   }
 
   if (currentStatus == ARTICULATING) {
-    
+    print("needs to articulate: true");
     if (needsToArticulate() == true) {
       articulateAllWheels();
     } 
     else {
+      print("needs to articulate: false");
       currentStatus = START_DRIVING;
     }
   }
 
   if (currentStatus == START_DRIVING) {
-   
     //TODO: Check with MEs about possibility of losing correct articulation (by going over an obstacle or something)
 
     //Check if we need to articulate


  if (currentStatus == IS_DRIVING) {
    if (millis() >= driveStopTime) {
      stopAllMotors(false);
    }
  }

  
  int moveRange = (motorInMotion[motorID]) ? DELTA_STOP_RANGE : DELTA_START_RANGE; 
  if (delta >= -moveRange && delta <= moveRange) {
    return ARTICULATION_DIRECTION_NONE;
  }

