 void stopConveyor(){
   driveCounterclockwise(LEFT_CONVEYOR_MOTOR_ID, 0);
   driveCounterclockwise(RIGHT_CONVEYOR_MOTOR_ID, 0);
+  currentConveyorStatus = STOPPED;
 }
 
 void driveWinch(){

const double ARTICULATION_DRIVE_SPEED = 6260.0 / 7521.0;
// This corresponds to the "maximum speed" available to the robot.
const int MAX_DRIVE_SPEED = 30;
bool motorInMotion[12];

//Conveyor and winch system constants
const char CONVEYOR_SPEED = 20;
const char WINCH_SPEED = 30;

int conveyorRotationTime = 0;
int winchRotationTime = 0;

long conveyorStopTime = 0;
long winchStopTime = 0;

//
// ROS initialization

 */
void setup(){
  // To start, no motor is moving.
  for(int i = 0; i < 15; ++i)
  {
   motorInMotion[i] = false; 
  }
