       to += 360;
     }
 
-
     // shift "from" to 0 degrees
     from = 0;
   }

  int clockwiseDistance = 360 - to;

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

  // 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){

    // shift "to" by however much "from" shifted (counter clockwise)
    to -= from;
