   currentExcavatorCommand.drive_speed = newManualCommand.drive_speed;
   currentExcavatorCommand.drive_duration = newManualCommand.drive_duration;
   currentExcavatorCommand.excavate_speed = newManualCommand.excavate_speed;
+  currentExcavatorCommand.excavate_duration = newManualCommand.excavate_duration;
   currentExcavatorCommand.excavation_height = newManualCommand.excavation_height;
   currentExcavatorCommand.e_stop = newManualCommand.e_stop;
   if(currentExcavatorCommand.e_stop)

  delayMicroseconds(1000);
}


//<---------------CODE TO ACTUATE BUCKET WHEEL---------------->
// checks whether we need to actuate the bucket wheel
// returns false if we are within +/- 3 steps
bool needsToActuate(int percent){
  int stepsToMove = int(-(toPercent(currentSteps) - percent) / 100.0 * FULL_STEPS);
  if(stepsToMove <= 3 || stepsToMove >= -3){
    return false;
  }
  return true; 


//used to read any commands that have been recieved
void interrupt() {
  /*
  if (Serial.available()) {
    char command = Serial.read();
    switch (command) {
