   int clockwiseDistance = 360 - to;
 
   if(counterClockwiseDistance > clockwiseDistance){
+    char msg[] = "Determined direction: CLOCKWISE!";
+    debugMsg.data = msg;
+    pubDebug.publish(&debugMsg);
     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;

      to += 360;
    }

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