 */
 void updateArticulationValues()
 {
+  /*
+  // Code for command line testing purposes
+  wheelStatus.ml_articulation_angle = wheelTarget.ml_articulation_angle;
+  wheelStatus.rl_articulation_angle = wheelTarget.rl_articulation_angle;
+  wheelStatus.fl_articulation_angle = wheelTarget.fl_articulation_angle;
+  wheelStatus.mr_articulation_angle = (int)wheelTarget.mr_articulation_angle;
+  wheelStatus.rr_articulation_angle = (int)wheelTarget.rr_articulation_angle;
+  wheelStatus.fr_articulation_angle = (int)wheelTarget.fr_articulation_angle;
+  */
+  
   int encoderPostition = EncoderFL::getPosition();
   if (encoderPostition < 0)
   {

    }
  }


  //Now we compare the two distances and move in the diection that is fastest
  int counterClockwiseDistance = to;
  int clockwiseDistance = 360 - to;

  if(counterClockwiseDistance > clockwiseDistance){
    char msg[] = "Determined direction: CLOCKWISE!";
    debugMsg.data = msg;
    pubDebug.publish(&debugMsg);
    return ARTICULATION_DIRECTION_CLOCKWISE;
  }
  else{


  direction = getArticulationDirection(REAR_RIGHT_DRIVE_MOTOR_ID, wheelStatus.rr_articulation_angle, wheelTarget.rr_articulation_angle); //RR
  articulateWheel(REAR_RIGHT_DRIVE_MOTOR_ID, direction);
}

/**
