   // whole frame of reference clockwise
 
   //Shift "to" and "from" so that "to" is the angle that we need to turn and "from" is 0
-  if(from > 0 && from <= 180){
+  if(from >= 0 && from <= 180){
 
     // shift "to" by however much "from" shifted (counter clockwise)
     to -= from;

  int clockwiseDistance = 360 - to;

  if(counterClockwiseDistance > clockwiseDistance){
    return ARTICULATION_DIRECTION_CLOCKWISE;
  }
  else{

      to += 360;
    }

    // shift "from" to 0 degrees
    from = 0;
  }
