 
 
 //<---------------CODE TO SPIN BUCKET WHEEL---------------->
-void rotateBucketClockwise(){
-  for (int i = 0; i < 4; ++i)
-  {
-    driveClockwise(i, BUCKET_SPEED);
-  }
-}
-
-void rotateBucketCounterclockwise(){
-  for (int i = 0; i < 4; ++i)
-  {
-    driveCounterclockwise(i, BUCKET_SPEED);
+void rotateBucketClockwise(int bucketSpeed){
+  for (int i = 0; i < 4; ++i)
+  {
+    driveClockwise(i, bucketSpeed);
+  }
+}
+
+void rotateBucketCounterclockwise(int bucketSpeed){
+  for (int i = 0; i < 4; ++i)
+  {
+    driveCounterclockwise(i, bucketSpeed);
   }
 }
 

  for(int i = 0; i < 7; i++){
    delayMicroseconds(15000);
  }

  /*
  //Currently stopped, don't do anything.
   // ASSUMES the robot is stopped when currentStatus is set to STOPPED.
   switch (currentStatus)
   {
   case READY_TO_DRIVE:
   driveTires();
   driveUntilTime = millis() + (long)currentExcavatorCommand.drive_duration;
   break;
   case DRIVING:
   if (millis() > driveUntilTime)
   {
   stopAllMotors();
   // TODO: Change this to excavating, if necessary.
   currentStatus = STOPPED;
   }
   break;
   
   case STOPPED:
   //  // fall through
   default:
   // TODO: Convey / Dig
   break;
   }
   
   //TODO: Publish sensor / state data?
   //Sync with ROS
   excavatorNode.spinOnce(); // Check for subscriber update/update timestamp
   
   //Delay so we don't overload any serial buffers
   for (int i = 0; i < 7; i++) {
   delayMicroseconds(15000);
   }
   */
}




#include "ExcavatorDriverROS.h"
#include <command2ros/ExcavatorCommand.h>
#include <std_msgs/String.h>
#include <std_msgs/Int16.h>


//<---------------- Set Up ------------------------------->
