 void continueDriving(){
   // Short-circuit on EStop!
   if(emergencyStop)
-  {
+  { 
     stopAllMotors();
     // short-circuit
     return;

// If true, we should override motor drive velocity with rotation velocity.
bool currentlyRotating = false;
bool currentlyDriving = false;

const int ARTICULATION_OFFSET = 6;
// How long should we drive for (milliseconds)?

  updateArticulationValues();
  continueDriving();
  // TODO: Delete this?
  //  msg.data = (long)currentWheelStatus[FRONT_LEFT_DRIVE_MOTOR_ID].orientation;
  //  pubResults.publish(&msg);

}


