     temp += 400;
   }
   currentWheelStatus[REAR_LEFT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
-
-  temp = EncoderFR::getPosition() - 200;
+  currentRotationMessage.rl_articulation_angle = currentWheelStatus[REAR_LEFT_DRIVE_MOTOR_ID].orientation;
+
+  temp = EncoderFR::getPosition() - 200; // Subtract 200 b/c the right side is flipped.
   if (temp < 0)
   {
     temp += 400;
   }
   currentWheelStatus[FRONT_RIGHT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
+  currentRotationMessage.fr_articulation_angle = currentWheelStatus[FRONT_RIGHT_DRIVE_MOTOR_ID].orientation;
 
   temp = EncoderMR::getPosition() - 200;
   if (temp < 0)

    temp += 400;
  }
  currentWheelStatus[MIDDLE_RIGHT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);

  temp = EncoderRR::getPosition() - 200;
  if (temp < 0)
  {
    temp += 400;
  }
  currentWheelStatus[REAR_RIGHT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
}

void setup(){

  // Communicate with the computer

    temp += 400;
  }
  currentWheelStatus[MIDDLE_LEFT_DRIVE_MOTOR_ID].orientation = (int)((temp * 9L) / 10L);
  currentRotationMessage.ml_articulation_angle = currentWheelStatus[MIDDLE_LEFT_DRIVE_MOTOR_ID].orientation;

  temp = EncoderRL::getPosition();
  if (temp < 0)
