def reverseHamperBelt(self):
        msg = ConveyorMsg()
        msg.frontConveyorFractionOn = 0.0
        msg.backConveyorFractionOn = -.1
        self.conveyorPub.publish(msg)

        return
    def reverseEatingBelts(self):

        msg = ConveyorMsg()
        msg.frontConveyorFractionOn = -.1
        msg.backConveyorFractionOn = 0.0
        self.conveyorPub.publish(msg)
        
        return
    def stopConveyorBelts(self):
        
        msg = ConveyorMsg()
        msg.frontConveyorFractionOn = 0.0
        msg.backConveyorFractionOn = 0.0
        self.conveyorPub.publish(msg)

        return
    def startBothBelts(self):

        # tell right conveor motor to start at standard speed
        msg = ConveyorMsg()
        msg.frontConveyorFractionOn = 1.0
        msg.backConveyorFractionOn = 1.0
        self.conveyorPub.publish(msg)
        
        return