 
 void desiredCameraPosChanged( const std_msgs::Int32& newPos){
     desiredDegrees = newPos.data;
-    rotateToFaceAngle(desiredDegrees);
+    currentCameraAngle.data = desiredDegrees;
+	rotateToFaceAngle(desiredDegrees);
+	cvDegreePublisher.publish(&currentCameraAngle);
 }
 
 

void driveUp(void);
void driveDown(void);

ros::Subscriber<std_msgs::Int32> cvDegreeReader("camera_angle", &desiredCameraPosChanged);

void setup(){


    desiredDegrees = angle % 360;
    // Step = Degrees / steps per degree * gear ratio
    desiredStep = int(desiredDegrees/stepDegree)*19;
  if(stepCount == desiredStep)
  {
	  return;
