   }// End else if for moving down
   
   // 2
-  else if (linear_actuator_cmd == 12) // Move up
+  //else if (linear_actuator_cmd == 12) // Move up
+  else if (linear_actuator_cmd > 0) // Move up
   {
     analogWrite(PWMA, 64);
     digitalWrite(AIN1, LOW);       // sets the digital pin 13 on

  // If it is not set to non-zero in the next time step, the else would trigger and turn off the motor
  linear_actuator_cmd_echo_msg.data = 0;
  
  // Reset the variable for the linear actuator cmd to 0, so there needs to be a continuous stream of data for it to actuate the motor
  // linear_actuator_cmd = 0; This does not work, as actuator_msg.data is still the old value, linear_actuator_cmd takes value from actuator_msg.data
  actuator_msg.data = 0;
  

  // Test 

#include <std_msgs/Float32.h>
#include <std_msgs/Uint8.h>

#include <geometry_msgs/Twist.h>

#include <SHT1x.h>

// Specify data and clock connections and instantiate SHT1x object
