     desiredDegrees = angle % 360;
     // Step = Degrees / steps per degree * gear ratio
     desiredStep = int(desiredDegrees/stepDegree)*19;
-    Serial.print("Going to degree: ");
-    Serial.print(desiredDegrees); 
-    Serial.print(" (Desired step: ");
-    Serial.print(desiredStep);
-    Serial.print("; current step: ");
-    Serial.println(stepCount);
   if(stepCount == desiredStep)
   {
 	  return;


void desiredCameraPosChanged( const std_msgs::Int32& newPos){
    desiredDegrees = newPos.data;
    rotateToFaceAngle(desiredDegrees);
}



  digitalWrite(ENABLE, HIGH); //the motor should not make loud screeching
  nh.initNode();
  nh.subscribe(cvDegreeReader);
  nh.advertise(cvDegreePublisher);
  //Serial.begin(9600);
}

