 
     print("current status: start_driving");
     //Set stop drive time
-    driveStopTime = millis() + wheelTarget.drive_duration*1000;
+    driveStopTime = millis() + (long)wheelTarget.drive_duration*1000;
     
-    print("after millis(), drive all motors");
+    //print("after millis, drive all motors");
 
     //Send drive start command
     driveAllMotors();

  Serial3.write(((char)speed));
  Serial3.write(checksum);
  //TODO: Move the delay time to a constant
  delayMicroseconds(1000); 
}

/**

    }
  }

  pubwheelStatus.publish(&wheelStatus);// current rotation data for each wheel. 

  //Sync with ROS
  sabertoothDriverNode.spinOnce(); // Check for subscriber update/update timestamp
