/** @return the angle of the drive train from {@literal 0} to {@literal 360}. */
public double getAngle360() // returns 0 -360
{
if (mxp.getYaw() < 0) return mxp.getYaw() + 360;
else return mxp.getYaw();
}
/** @return the angle of the drive train from {@literal -180} to {@literal 180}. */
public double getAngle() // return -180 - 180
{
return (double) mxp.getYaw();
}