 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;
+// Articulation motor addressing
+const unsigned char FRONT_LEFT_ARTICULATION_MOTOR_ADDRESS = 000;
+const unsigned char FRONT_RIGHT_ARTICULATION_MOTOR_ADDRESS = 000;
+const unsigned char MIDDLE_LEFT_ARTICULATION_MOTOR_ADDRESS = 000;
+const unsigned char MIDDLE_RIGHT_ARTICULATION_MOTOR_ADDRESS = 000;
+const unsigned char REAR_LEFT_ARTICULATION_MOTOR_ADDRESS = 000;
+const unsigned char REAR_RIGHT_ARTICULATION_MOTOR_ADDRESS = 000;
+
 
 // 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;

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

void driveForwards(char speed, char motor){
  // Build the data packet:
  // Get the address and motor command ID from a predefined array.
  unsigned char address = MOTOR_ADDRESS[motor];
  unsigned char command = MOTOR_COMMAND[motor];
  unsigned char checksum = (address + command + speed) & 0b01111111;
  // Write the packet.
  Serial3.write(address);
