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)))));
}