   Serial3.write(speed);
   Serial3.write(checksum);
   //TODO: Move the delay time to a constant
-  delayMicroseconds(1000);
+  delayMicroseconds(1000);*/
 }
 
 /**

*/
void updateArticulationValues()
{
  /*
  // Code for command line testing purposes
  wheelStatus.ml_articulation_angle = wheelTarget.ml_articulation_angle;
  wheelStatus.rl_articulation_angle = wheelTarget.rl_articulation_angle;

    }
  }

  pubwheelStatus.publish(&wheelStatus);// current rotation data for each wheel. 

  //Sync with ROS
  sabertoothDriverNode.spinOnce(); // Check for subscriber update/update timestamp
