 	    ||
 	     (req_motor_left == 0 && req_motor_right == 0)
 	) {
-		//remove correction, use only estimated speeds for new velocity command
+		//remove correction, for new velocity command use only estimated speeds
 		old_motor_left = req_motor_left;
 		old_motor_right = req_motor_right;
 		millis_since_cmd = millis();


void genericMessageListener(const robik::GenericControl& msg);
void armMessageListener(const robik::ArmControl& msg);
void velocityMessageListener(const geometry_msgs::Twist& msg);
ros::Subscriber<robik::GenericControl> sub_generic_control("robik_generic_control", &genericMessageListener);
ros::Subscriber<robik::ArmControl> sub_arm_control("robik_arm_control", &armMessageListener);
ros::Subscriber<geometry_msgs::Twist> sub_velocity_control("robik_velocity_control", &velocityMessageListener);
void setArmPower(bool status);
bool getArmPower();


#include "CalLib.h"
#include <EEPROM.h>
#include <ros.h>
#include "robik/GenericStatus.h"
#include "robik/GenericControl.h"
#include "robik/ArmControl.h"
#include "robik/VelocityControl.h"
#include "robik.h"
#include "robot_config.h"
#include "robik_api.h"
