It's hard to know when it's time to head to the hospital unless you have done it before and even then you can still be unsure.
I say play it safe and go to the hospital. The worst thing they can do is send you home and tell you to keep waiting.
I have a friend that had her baby three weeks early. I went to pick her up for lunch on afternoon and she said "I feel funny" "I think you should take me to the hospital" I asked if she was feeling contractions and she said no but she felt like she was going to have the baby.
I took her in thinking we would be sent home. They checked her and sure enough, she was getting ready to have thaht baby! She was having contractions, but they were not painful to her.
You can always call the hospital and ask to speak to a nurse on duty, they can help you decide when it's time to go in.
Best Wishes, Can't wait for birth stories from you and nancy :)