public double getAngleDistance(double a, double b) {
    // Given a and b, find the minimum distance between a and b (in degrees)
    // while accounting for angle wrapping
    double result = 0;
    // Find the difference
    result = Math.abs(a - b);
    // Account for wrapping
    if (result > 180) {
      result = -1 * (result - 360);
    }

    return result;
  }
 public double getWallUsValue() {
   return 0.40 * (1 + (0.181818 * Math.abs(Math.sin(Math.toRadians(2 * odo.getAng() + 180)))));
 }