   //Serial.println(linear_actuator_cmd);
   // For ROS
   // 1
-  if (linear_actuator_cmd == 11)// Move down
+  //if (linear_actuator_cmd == 11)// Move down
+  
+  // Swap to using teleop
+  if (linear_actuator_cmd < 0)// Move down
   {
     analogWrite(PWMA, 64);
     digitalWrite(AIN1, HIGH);       // sets the digital pin 13 on

  }// End else if for moving down
  
  // 2
  else if (linear_actuator_cmd == 12) // Move up
  {
    analogWrite(PWMA, 64);
    digitalWrite(AIN1, LOW);       // sets the digital pin 13 on

int incomingByte = 0;   // for incoming serial data

// Create the callback function for the subscriber
//void actuatorCb(const std_msgs::Float32& cmd_msg)
void actuatorCb(const geometry_msgs::Twist& cmd_msg) // for Twist msg
{

  // Pre-Teleop
  //actuator_msg.data = cmd_msg.data;
  //linear_actuator_cmd_echo_msg.data = cmd_msg.data;

  // For Teleop Msg Parsing
  // Access the x variable in the data
  actuator_msg.data = cmd_msg.linear.x;
  linear_actuator_cmd_echo_msg.data = cmd_msg.linear.x;
}

// Create the subscriber before void setup
//ros::Subscriber<std_msgs::Float32> sub("linear_actuator_cmd", &actuatorCb );
ros::Subscriber<geometry_msgs::Twist> sub("linear_actuator_cmd", &actuatorCb );

void setup()
{
