     {
       driveCounterclockwise(0, motorIDX + ARTICULATION_OFFSET);
       driveCounterclockwise(0, motorIDX);
-      
+
       char* error = "Stopping motor: X";
       error[16] = '0'+motorIDX;
       msg.data = error;

// A function that tells all motors to stop moving.
void stopAllMotors()
{
  // send stop-driving commands to all motors
  for(int i = 0; i < 12; ++i)
  {
    driveClockwise(0,i);
  }
}


      if(!currentlyMoving[motorIDX])
      {
        char* error = "Starting motor: X";
        currentlyStopped = false;
        error[16] = '0'+motorIDX;
        msg.data = error;
        pubResults.publish(&msg);
