text: //====================================================================================================================================================
  // Copyright 2022 Lake Orion Robotics FIRST Team 302
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
  // to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
  // and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
  // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
  // DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
  // OR OTHER DEALINGS IN THE SOFTWARE.
  //====================================================================================================================================================
  
  #pragma once
  
  //C++ Includes
  #include <memory>
  
  // FRC Includes
  
  #include <units/angle.h>
  
  // Team 302 Includes
  
  // Third Party Includes
  
  
  class AngleUtils 
  {
      public:        
          /// @brief find the angle from the startingAngle to the targetAngle
          /// @param [in] startingAngle - angle to start from
          /// @param [in] targetAngle - angle to go to
          /// @returns units::angle::degree_t the angle to traverse to get from the startingAngle
          ///                                 to the targetAngle 
          static units::angle::degree_t GetDeltaAngle
          (
              units::angle::degree_t  startingAngle,
              units::angle::degree_t  targetAngle
          );
  
          /// @brief make sure the angle is between -180.0_deg and 180.0_deg and if it isn't find
          ///        its equivalent angle within that range
          /// @param [in] units::angle::degree_t  angle - angle to check
          /// @returns units::angle::degree_t angle within range
          static units::angle::degree_t GetEquivAngle
          (
              units::angle::degree_t  angle
          );
  };
  
  