public static void setBackAsFront(AdvancedRobot robot, double goAngle) { double angle = Utils.normalRelativeAngle(goAngle - robot.getHeadingRadians()); if (Math.abs(angle) > (Math.PI / 2)) { if (angle < 0) { robot.setTurnRightRadians(Math.PI + angle); } else { robot.setTurnLeftRadians(Math.PI - angle); } robot.setBack(100); } else { if (angle < 0) { robot.setTurnLeftRadians(-1 * angle); } else { robot.setTurnRightRadians(angle); } robot.setAhead(100); } }