 }
 
 //
-// ROS Subsribers
+// ROS Subscribers
 //
 command2ros::ExcavatorCommand currentExcavatorCommand;
 
-void newExcavatorCommandCallback(const command2ros::ExcavatorCommand& newManualCommand)
+void newExcavatorCommandCallback(const command2ros::ExcavatorCommand &newManualCommand)
 {
   currentExcavatorCommand.drive_speed = newManualCommand.drive_speed;
   currentExcavatorCommand.drive_duration = newManualCommand.drive_duration;

  }

  if(currentConveyorStatus == START_ROTATING_CONVEYOR){
    conveyorStopTime = millis() + (long)abs(conveyorRotationTime);   
    driveConveyor();
    currentConveyorStatus = ROTATING_CONVEYOR;
  }

  excavatorStatus.e_stop = false;
}

//<---------------- Bucket Wheel Actuation --------------->
const int ERROR_OUT_OF_RANGE = - 1;
const int FULL_STEPS = 31914;
