     {
       stepCount += MAX_STEP_VALUE;
     }
+        Serial.print("Step Count:");
+    Serial.print(stepCount);
+    Serial.print(" | Target Step:");
+    Serial.println(desiredStep);
   }
 }
 

{
  while(angle < 0)
  {
    angle += 360;
  }
  desiredDegrees = angle % 360;
  // Step = Degrees / steps per degree * gear ratio
  desiredStep = int(desiredDegrees/stepDegree)*19;
  if(stepCount == desiredStep)
  {
    return;
  }
  else if ((abs(desiredStep - stepCount) < int(180/stepDegree)*19 ) || 
  ((desiredStep + MAX_STEP_VALUE - stepCount) < 180) )
  {
    driveUp();
  }

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


void setup(){

  pinMode(DIRECTION_PIN, OUTPUT);
