   }
 
   if (currentStatus == START_DRIVING) {
-    char msg[] = "driving";
-    debugMsg.data = msg;
-    pubDebug.publish(&debugMsg);
+   
     //TODO: Check with MEs about possibility of losing correct articulation (by going over an obstacle or something)
 
     //Check if we need to articulate

// This program does whatever ROS directs it to do.
// So far, it drives the robot forwards and backwards.
void loop(){
  //We are E-Stopped, don't respond to future commands.
  if (currentStatus == E_STOPPED) {
    //TODO: This will never happen right now, may want for competition though

  }
}



/**
 * Is called on starting the arduino.
 * 
 */
void setup(){
  pinMode(13, OUTPUT);

  // Setup the encoders
  EncoderFL::setupEncoderFL();
