   {
     return;
   }
-  else if (stepCount < desiredStep)
+  else if ((abs(desiredStep - stepCount) < int(180/stepDegree)*19 ) || 
+  ((desiredStep + MAX_STEP_VALUE - stepCount) < 180) )
   {
     driveUp();
   }


void rotateToFaceAngle(int angle)
{
  desiredDegrees = angle % 360;
  // Step = Degrees / steps per degree * gear ratio
  desiredStep = int(desiredDegrees/stepDegree)*19;

 PUL+ (pin 9)
 DIR+ (pin 8)
 
 ENA+ connected to 5V
 ENA- connected to pin 10 (+5V when turning, otherwise 0V)
 
 */
