         pubResults.publish(&msg);
         driveCounterclockwise(ARTICULATION_SPEED, motorIDX + ARTICULATION_OFFSET);
         driveCounterclockwise(ARTICULATION_DRIVE_SPEED, motorIDX);
-        stillRotating = true;
         currentlyMoving[motorIDX] = true;
       }
 

  }
  driveTimeMillis = (long)(nmc.drive_duration * 1000);
  emergencyStop = nmc.e_stop;
}



    else if (((delta > 0) && (delta < 180)) || 
      ((delta + 360) < 180 ))
    {
      stillRotating = true;
      if(!currentlyMoving[motorIDX])
      {
        char* error = "Starting motor: X";
