diff --git a/web/js/sections/board-control.js b/web/js/sections/board-control.js
index a921f0c..01a4664 100644
--- a/web/js/sections/board-control.js
+++ b/web/js/sections/board-control.js
@@ -277,8 +277,8 @@ async function executeMove(spot) {
     return;
   }
 
-  const newSteps1 = IK.radToSteps(res.theta1);
-  const newSteps2 = IK.radToSteps(res.theta2);
+  const newSteps1 = IK.radToStepsClosest(res.theta1, steps1);
+  const newSteps2 = IK.radToStepsClosest(res.theta2, steps2);
   const delta1 = newSteps1 - steps1;
   const delta2 = newSteps2 - steps2;
 
diff --git a/web/js/sections/input-text.js b/web/js/sections/input-text.js
index 46594ed..257bc60 100644
--- a/web/js/sections/input-text.js
+++ b/web/js/sections/input-text.js
@@ -275,8 +275,8 @@ async function executeMove(spot) {
     return false;
   }
 
-  const newSteps1 = IK.radToSteps(res.theta1);
-  const newSteps2 = IK.radToSteps(res.theta2);
+  const newSteps1 = IK.radToStepsClosest(res.theta1, steps1);
+  const newSteps2 = IK.radToStepsClosest(res.theta2, steps2);
   const delta1 = newSteps1 - steps1;
   const delta2 = newSteps2 - steps2;
 
diff --git a/web/js/sequence-runner.js b/web/js/sequence-runner.js
index 361cefa..3b5e14a 100644
--- a/web/js/sequence-runner.js
+++ b/web/js/sequence-runner.js
@@ -64,8 +64,8 @@ export default {
         continue;
       }
 
-      const newSteps1 = IK.radToSteps(res.theta1);
-      const newSteps2 = IK.radToSteps(res.theta2);
+      const newSteps1 = IK.radToStepsClosest(res.theta1, steps1);
+      const newSteps2 = IK.radToStepsClosest(res.theta2, steps2);
 
       const cmd = `X:${newSteps1},${newSteps2}`;