 #include <std_msgs/Int32.h>
 
 
-const boolean USE_ROS = true;
+const boolean USE_ROS = false;
 
 ros::NodeHandle nh;
 const int DIRECTION_PIN = 8;
 const int PULSE_PIN = 9;
 const int ENABLE = 10;
-int stepCount = 0;
-int desiredDegrees = 0;
-int beaconDegreeOffset = 0;
+long stepCount = 0;
+long desiredDegrees = 0;
+long beaconDegreeOffset = 0;
 double stepDegree = 0.094;
-int desiredStep = 0;
+long desiredStep = 0;
 // In testing it seems this is unecessary.
 const int DELAY = 10;
 
-const int MAX_STEP_VALUE = 72765;
+// total steps to equal 360 degrees
+const long MAX_STEP_VALUE = 72765;
 
 const int CLOCKWISE = HIGH;
 const int COUNTERCLOCKWISE = LOW;

std_msgs::Int32 currentCameraAngle;
ros::Publisher cvDegreePublisher("current_camera_angle", &currentCameraAngle);

void setup(){

  pinMode(DIRECTION_PIN, OUTPUT);

void driveUp()
{
  digitalWrite(ENABLE,LOW);
  digitalWrite(DIRECTION_PIN, COUNTERCLOCKWISE);
  while(stepCount != desiredStep)
  {
    delayMicroseconds(DELAY);
