 
 void articulateAllWheels() {
 
-  int[] wheelIds = {
+  int wheelIds[6] = {
     FRONT_LEFT_ARTICULATION_MOTOR_ID,
     FRONT_RIGHT_ARTICULATION_MOTOR_ID, 
     MIDDLE_LEFT_ARTICULATION_MOTOR_ID, 
     MIDDLE_RIGHT_ARTICULATION_MOTOR_ID, 
     REAR_LEFT_ARTICULATION_MOTOR_ID,
-    REAR_RIGHT_ARTICULATION_MOTOR_ID  };
-  int[] wheelArticulations = new int[6];
+    REAR_RIGHT_ARTICULATION_MOTOR_ID };
+  int wheelArticulations[6];
 
   // Note: wheelTarget says it is the angle, but since we 
   // hacked at the last minute, it is actually time.

}


void delaySeconds(unsigned double n){
  unsigned int delayTime = 10000;
  long desiredMicroDelay = (long)(n * 1000000L);
  long numCycles = desiredMicroDelay / (long)delayTime;

    delaySeconds((double)diff);

    // Stop that motor
    driveCounterclockwise(wheelArticulations[last],0);  
    driveCounterclockwise(wheelArticulations[last] - 6, 0);
    last = wheelArticulations[i];
  }

