     {
       analogWrite(PWMA, 0);
     }
-    
+
+    // If Serial Testing used...Earlier intermediate testing code
+    // Reset incoming Byte to 0 at end of receiving the message
+    incomingByte = 0;
   } // End Serial.available()
+  
+  //if (incomingByte != 48) or (incomingByte != 49)
+  //{
+  //  analogWrite(PWMA, 0);
+  //}
 
   // For Debugging
   // Waiting for Serial Input


  //nh.spinOnce();
  
}

    //Serial.print("I received: ");
    //Serial.println(incomingByte, DEC);

    // The code in here is to test the logic when using Serial monitor to send the inputs into the ProMini
    // Instead of using a ROS topic
    // 1
    if (incomingByte == 49)// Move down
    {
