     temp += 400;
   }
   currentWheelStatus[MIDDLE_LEFT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
+  currentRotationMessage.ml_articulation_angle = currentWheelStatus[MIDDLE_LEFT_DRIVE_MOTOR_ID].orientation;
 
   temp = EncoderRL::getPosition();
   if (temp < 0)

    temp += 400;
  }
  currentWheelStatus[FRONT_LEFT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);

  temp = EncoderML::getPosition();
  if (temp < 0)

#include "SabertoothDriverROS.h"

std_msgs::String msg;
command2ros::ManualCommand currentRotationMessage
ros::Publisher pubResults("testing", &msg);
ros::Publisher pubCurrentRotation("Current Rotation", &currentRotationMessage)// current rotation data for each wheel. 
                                                                              // This will publish when the angle is updated.
EncoderFL efl;
EncoderML eml;
EncoderFR efr;
