 // Function to drive a specific motor backwards. 
 // Packet format: Address Byte, Command Byte, Value Byte, Checksum.
 void driveBackwards(char speed, char motor){
-  unsigned char address = DRIVE_MOTOR_ADDRESS[motor];
-  unsigned char command = DRIVE_MOTOR_COMMAND[motor] + 1;
+  unsigned char address = MOTOR_ADDRESS[motor];
+  unsigned char command = MOTOR_COMMAND[motor] + 1;
   unsigned char checksum = (address + command + speed) & 0b01111111;
   Serial3.write(address);
   Serial3.write(command);

const unsigned char MIDDLE_RIGHT_DRIVE_MOTOR_ADDRESS = 129;
const unsigned char REAR_LEFT_DRIVE_MOTOR_ADDRESS = 128;
const unsigned char REAR_RIGHT_DRIVE_MOTOR_ADDRESS = 128;

// Motor addressing offset: If a motor is connected to M1, 
// This will be 0. If the motor is connected to M2, this should

const unsigned char MIDDLE_RIGHT_DRIVE_MOTOR_ID = 3;
const unsigned char REAR_LEFT_DRIVE_MOTOR_ID = 4;
const unsigned char REAR_RIGHT_DRIVE_MOTOR_ID = 5;
// Articulation motors
const unsigned char FRONT_LEFT_ARTICULATION_MOTOR_ID = 6;
const unsigned char FRONT_RIGHT_ARTICULATION_MOTOR_ID = 7;
const unsigned char MIDDLE_LEFT_ARTICULATION_MOTOR_ID = 8;
const unsigned char MIDDLE_RIGHT_ARTICULATION_MOTOR_ID = 9;
const unsigned char REAR_LEFT_ARTICULATION_MOTOR_ID = 10;
const unsigned char REAR_RIGHT_ARTICULATION_MOTOR_ID = 11;

// Motor addressing (used to link the computer-constants to
// commands sent to the saberteeth).
