 
 void newManualCommandCallback(const command2ros::ManualCommand& nmc)
 {
+  char* error = "received command";
+  msg.data = error;
+  pubResults.publish(&msg);
+  
   // TODO: Update wheel status info. Determine if we need to rotate.
   currentlyRotating = currentlyRotating || updateTargetWheelStatus(nmc);
+  if(currentlyRotating)
+  {
+    char* error = "currentlyRotating is TRUE.";
+    msg.data = error;
+    pubResults.publish(&msg);  
+  }
+  else
+  {
+    char* error = "currentlyRotating is FALSE.";
+    msg.data = error;
+    pubResults.publish(&msg);   
+  }
   driveTimeMillis = (long)(nmc.drive_duration * 1000);
   emergencyStop = nmc.e_stop;
 }

      if(!currentlyMoving[motorIDX])
      {
        char* error = "Starting motor: X";
        error[16] = '0'+motorIDX;
        msg.data = error;
        pubResults.publish(&msg);

// A function that tells all motors to stop moving.
void stopAllMotors()
{
  if (!currentlyStopped) {
    currentlyStopped = true;
    // send stop-driving commands to all motors
    for(int i = 0; i < 12; ++i)
    {
      driveClockwise(0,i);
    }
    char* error = "Stopping all motors.";
    msg.data = error;
    pubResults.publish(&msg);  
  }
}

