     temp += 400;
   }
   currentWheelStatus[FRONT_LEFT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
-  
+
   temp = EncoderML::getPosition();
   if (temp < 0)
   {
     temp += 400;
   }
   currentWheelStatus[MIDDLE_LEFT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
-  
+
   temp = EncoderRL::getPosition();
   if (temp < 0)
   {
     temp += 400;
   }
   currentWheelStatus[REAR_LEFT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
-  
+
   temp = EncoderFR::getPosition() - 200;
   if (temp < 0)
   {
     temp += 400;
   }
   currentWheelStatus[FRONT_RIGHT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
-  
+
   temp = EncoderMR::getPosition() - 200;
   if (temp < 0)
   {
     temp += 400;
   }
   currentWheelStatus[MIDDLE_RIGHT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
-  
+
   temp = EncoderRR::getPosition() - 200;
   if (temp < 0)
   {


void newManualCommandCallback(const command2ros::ManualCommand& nmc)
{
 // TODO: Update wheel status info. Determine if we need to rotate.
 currentlyRotating = currentlyRotating || updateTargetWheelStatus(nmc);
 driveTimeMillis = (long)(nmc.drive_duration * 1000);
 emergencyStop = nmc.e_stop;
}



bool currentlyRotating = false;
bool currentlyDriving = false;

const int ARTICULATION_OFFSET = 6;
// How long should we drive for (milliseconds)?
unsigned long driveTimeMillis = 0;
//DriveUntil: Used when driving forwards.
