 	    ||
 	     (req_motor_left == 0 && req_motor_right == 0)
 	) {
-		//remove correction, use only estimated speeds for new velocity command
+		//remove correction, for new velocity command use only estimated speeds
 		old_motor_left = req_motor_left;
 		old_motor_right = req_motor_right;
 		millis_since_cmd = millis();


void genericMessageListener(const robik::GenericControl& msg);
void armMessageListener(const robik::ArmControl& msg);
void velocityMessageListener(const geometry_msgs::Twist& msg);
ros::Subscriber<robik::GenericControl> sub_generic_control("robik_generic_control", &genericMessageListener);
ros::Subscriber<robik::ArmControl> sub_arm_control("robik_arm_control", &armMessageListener);
ros::Subscriber<geometry_msgs::Twist> sub_velocity_control("robik_velocity_control", &velocityMessageListener);
void setArmPower(bool status);
bool getArmPower();



}

//Input received from diff_drive_controller
void velocityMessageListener(const robik::VelocityControl& msg) {
	req_motor_left = constrain(msg.motor_left, -MAX_VEL, MAX_VEL);
	req_motor_right = constrain(msg.motor_right, -MAX_VEL, MAX_VEL);
	velocity_control_LR();
}

// vel: linear velocity [m/sec]
