         Serial.print("Arming motor [");
         Serial.print(motor_idx);
         Serial.println("]");
+        //Serial.println("I've turned off the fucking motor arming");
         motor->arm();
+        Serial.println("Motor Armed");
+        //motor->enable
       }
     }
     break;

  // Initialize sensors
  platypus::sensors[0] = new platypus::ServoSensor(0);
  platypus::sensors[1] = new platypus::Hds5(1);
  platypus::sensors[2] = new platypus::AtlasSensor(2);
  platypus::sensors[3] = new platypus::ES2(3);
  
  // Initialize motors

  size_t num_entries = token->size / 2;
  for (size_t entry_idx = 0; entry_idx < num_entries; entry_idx++)
  {
    
    // Get the name field for this entry.
    token++;
    char entry_name[64];
