   sabertoothDriverNode.initNode();
   sabertoothDriverNode.subscribe(commandSubscriber);
   sabertoothDriverNode.subscribe(setActualArticulationSubscriber);
+  sabertoothDriverNode.subscribe(winchSubscriber);
+  sabertoothDriverNode.subscribe(conveyorSubscriber);
   sabertoothDriverNode.advertise(pubwheelStatus);
   sabertoothDriverNode.advertise(pubDebug);
 


ros::Subscriber<std_msgs::Int16> conveyorSubscriber("TransportConveyorCommand", &newConveyorCommandCallback);

ros::Subscriber<std_msgs::Int16> bSubscriber("TransportWinchCommand", &newWinchCommandCallback);


// Print error message to "sabertooth_debugger" topic

    }

    tries++;
    if(tries > 720) {
      // Insertion sort
      for (int j = 0; j < 6; j++)
      {
