 }
 
 
-void delaySeconds(unsigned double n){
+void delaySeconds(double n){
   unsigned int delayTime = 10000;
   long desiredMicroDelay = (long)(n * 1000000L);
   long numCycles = desiredMicroDelay / (long)delayTime;

    delaySeconds((double)diff);

    // Stop that motor
    driveCounterclockwise(wheelArticulation[last],0);  
    driveCounterclockwise(wheelArticulation[last] - 6, 0);
    last = wheelArticulations[i];
  }



void articulateAllWheels() {

  int wheelIds[6] = {
    FRONT_LEFT_ARTICULATION_MOTOR_ID,
    FRONT_RIGHT_ARTICULATION_MOTOR_ID, 
    MIDDLE_LEFT_ARTICULATION_MOTOR_ID, 
    MIDDLE_RIGHT_ARTICULATION_MOTOR_ID, 
    REAR_LEFT_ARTICULATION_MOTOR_ID,
    REAR_RIGHT_ARTICULATION_MOTOR_ID };
  int wheelArticulations[6];

  // Note: wheelTarget says it is the angle, but since we 
  // hacked at the last minute, it is actually time.
