 int getArticulationDirection(int from, int to) {
 
   int delta = from-to;
-  if (delta > -DELTA_RANGE && delta < DELTA_RANGE) {
+  if (delta >= -DELTA_RANGE && delta <= DELTA_RANGE) {
+    char msg[] = "Determined direction: NONE...";
+    debugMsg.data = msg;
+    pubDebug.publish(&debugMsg);
     return ARTICULATION_DIRECTION_NONE;
   }
 

  // whole frame of reference clockwise

  //Shift "to" and "from" so that "to" is the angle that we need to turn and "from" is 0
  if(from > 0 && from <= 180){

    // shift "to" by however much "from" shifted (counter clockwise)
    to -= from;

  int clockwiseDistance = 360 - to;

  if(counterClockwiseDistance > clockwiseDistance){
    char msg[] = "Determined direction: CLOCKWISE!";
    debugMsg.data = msg;
    pubDebug.publish(&debugMsg);
    return ARTICULATION_DIRECTION_CLOCKWISE;
  }
  else{
