 void driveDown()
 {
   digitalWrite(ENABLE,LOW);
-  digitalWrite(DIRECTION_PIN, COUNTERCLOCKWISE);
+  digitalWrite(DIRECTION_PIN, CLOCKWISE);
   while(stepCount != desiredStep)
   {
     delayMicroseconds(DELAY);

    nh.subscribe(cvDegreeReader);
    nh.advertise(cvDegreePublisher);
  } else {
    Serial.begin(9600);
  }
}

void loop()
{
  if (USE_ROS) {
    nh.spinOnce();
  } else {
    if(Serial.available())
    {
      rotateToFaceAngle(Serial.parseInt());
    }
  }
  

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

