   }
   
   if(currentWinchStatus == START_ROTATING_WINCH){
-    winchStopTime = millis() + (long)winchRotationTime;   
+    winchStopTime = millis() + (long)abs(winchRotationTime);   
     driveWinch();
     currentWinchStatus = ROTATING_CONVEYOR;
   }

}

/**
 * Stops all the motors (Articulation and Wheels) and chages the current state to reflect the stop
 *
 * Parameters:
 *  EStop - Weather or not this is an E-Stop or a normal end of command stop

    } 
    else {
      print("needs to articulate: false");
      stopMovementMotors();
      currentStatus = START_DRIVING;
    }
  }
