   Wire.write(valid(cmd.pwm.heave_stbd_aft));
   Wire.endTransmission();
 
-  Wire.requestFrom(ESC_BOARD[4], ONE_PACKET);
-  state.heave_port_aft.checksum ^= Wire.read();
-  state.heave_stbd_aft.checksum ^= Wire.read();
-  state.heave_port_aft.temp = Wire.read() | Wire.read() << 8;
-  state.heave_port_aft.current = get_current();
-  state.heave_stbd_aft.temp = Wire.read() | Wire.read() << 8;
-  state.heave_stbd_aft.current = get_current();
-
-  // Publish checksum results
   state_pub.publish(&state);
 
   // Red LEDs


// ROS is the best
ros::NodeHandle nh;
riptide_msgs::Thrusters state;
ros::Publisher state_pub("state/esc", &state);
ros::Subscriber<riptide_msgs::PwmStamped> cmd_sub("command/pwm", &callback);


  else {digitalWrite(11, LOW); }
}

// Ensure 1100 <= pwm <= 1900
int16_t valid(int16_t pwm)
{
  pwm = pwm > 1900 ? 1900 : pwm;
  pwm = pwm < 1100 ? 1100 : pwm;
  return pwm;
}
