 
 
 float getBatteryVoltage() {
-  return 5.0 * analogRead(BATTERY_READ_PIN) / 1024.0;
+  // unsigned int batteryVoltage = analogRead(BATTERY_READ_PIN) * 5000L * 3/2 / 1023;
+  // return 5.0 * (float)analogRead(BATTERY_READ_PIN) / 1024.0;
+  return (unsigned int)(analogRead(BATTERY_READ_PIN) * 5000L * 3/2 / 1023);
 }
 
 void cmd_vel_callback( const geometry_msgs::Twist& twist_msg) {


  nh.initNode();
  nh.subscribe(cmd_vel_topic);
}

void loop()

ros::Subscriber<geometry_msgs::Twist> cmd_vel_topic("cmd_vel", &cmd_vel_callback);

// Battery Voltage Publisher
std_msgs::UInt16 voltage_msg;
ros::Publisher battery_topic("battery_voltage", &voltage_msg);

// Published voltages as a uint16 in millivolts (5.806V = 5806 for example)
void publishBatteryVoltage() {
  voltage_msg.data = getBatteryVoltage();
  battery_topic.publish( &voltage_msg );
