   //Serial.println(linear_actuator_cmd);
   // For ROS
   // 1
-  if (linear_actuator_cmd == 11)// Move down
+  //if (linear_actuator_cmd == 11)// Move down
+  
+  // Swap to using teleop
+  if (linear_actuator_cmd < 0)// Move down
   {
     analogWrite(PWMA, 64);
     digitalWrite(AIN1, HIGH);       // sets the digital pin 13 on

int incomingByte = 0;   // for incoming serial data

// Create the callback function for the subscriber
void actuatorCb(const std_msgs::Float32& cmd_msg)
{
  actuator_msg.data = cmd_msg.data;
  linear_actuator_cmd_echo_msg.data = cmd_msg.data;
}

// Create the subscriber before void setup
ros::Subscriber<std_msgs::Float32> sub("linear_actuator_cmd", &actuatorCb );

void setup()
{

#include <std_msgs/Float32.h>
#include <std_msgs/Uint8.h>

#include <geometry_msgs/Twist.h>

#include <SHT1x.h>

// Specify data and clock connections and instantiate SHT1x object
