       delayMicroseconds(15000);
     }
   }
+  // Test the winch.
+  unitTestWinch();
+  // Test the conveyor.
+  unitTestConveyor(); 
+}  
+  
+void unitTestConveyor()
+{
+  // Test the conveyor:
+  // 2s "dumping" / forwards (clockwise), 2s "collecting" / backwards (counterclockwise).
+
+  driveClockwise(LEFT_CONVEYOR_MOTOR_ID, CONVEYOR_SPEED);
+  driveClockwise(RIGHT_CONVEYOR_MOTOR_ID, CONVEYOR_SPEED);
+  delaySeconds(2);
+  driveCounterclockwise(LEFT_CONVEYOR_MOTOR_ID, CONVEYOR_SPEED);
+  driveCounterclockwise(RIGHT_CONVEYOR_MOTOR_ID, CONVEYOR_SPEED);
+  delaySeconds(2);
+  driveCounterclockwise(LEFT_CONVEYOR_MOTOR_ID, 0);
+  driveCounterclockwise(RIGHT_CONVEYOR_MOTOR_ID, 0);
+  delaySeconds(2);
+  
+}
+
+void unitTestWinch()
+{
+  // Test the winch: 
+  // 2s up (clockwise), 2s down (counterclockwise).
+  driveClockwise(WINCH_MOTOR_ID, WINCH_SPEED);
+  delaySeconds(2);
+  driveCounterclockwise(WINCH_MOTOR_ID, WINCH_SPEED);
+  delaySeconds(2);
+  driveCounterclockwise(WINCH_MOTOR_ID, 0);
+  delaySeconds(2);
 }
 
 void unitTest2(){

    }
  }

  for(int i = 6; i < 12; ++i){
    // clockwise
    driveClockwise(i, 30);

    delayMicroseconds(15000);
  }

  // loop through and test all drive motors:
  // 1.5s clockwise, then 1.5s counterclockwise.
  for(int i = 0; i < 6; i++){
    // clockwise
    driveClockwise(i, 20);
