   
   int moveRange = (motorInMotion[motorID]) ? DELTA_STOP_RANGE : DELTA_START_RANGE; 
   if (delta >= -moveRange && delta <= moveRange) {
-    char msg[] = "Determined direction: NONE...";
-    debugMsg.data = msg;
-    pubDebug.publish(&debugMsg);
     return ARTICULATION_DIRECTION_NONE;
   }
 

    //   return;
    // }

    //Set stop drive time
    driveStopTime = millis() + wheelTarget.drive_duration*1000;

    //Send drive start command
    driveAllMotors();

    }
  }

  //Now we compare the two distances and move in the diection that is fastest
  int counterClockwiseDistance = to;
  int clockwiseDistance = 360 - to;

  if(counterClockwiseDistance > clockwiseDistance){
    return ARTICULATION_DIRECTION_CLOCKWISE;
  }
  else{
