@Override
        public void handleOutputCommand(SoarBeanOutputContext context, DriveCommand driveCommand) {
            if (shuttingDown) {
                return;
            }
            short velocity = (short) driveCommand.velocity;
            short radius = (short) driveCommand.radius;
            context.setStatus("complete");//place a ^status complete annotation on the command
            System.out.println();
            System.out.println("Received a drive command: ");
            System.out.println("    Velocity: " + velocity);
            System.out.println("    Radius: " + radius);

            try {
                roomba.driveCommand(velocity, radius);
            } catch (RoombaIFException ex) {
                System.err.println(ex);
            }
        }