def angle_to_speed_percentage(angle):
        """
        The following graphic illustrates the **motor power outputs** for the
        left and right motors based on where the joystick is pointing, of the
        form ``(left power, right power)``::

                                     (1, 1)
                                  . . . . . . .
                               .        |        .
                            .           |           .
                   (0, 1) .             |             . (1, 0)
                        .               |               .
                       .                |                 .
                      .                 |                  .
                     .                  |                   .
                    .                   |                   .
                    .                   |     x-axis        .
            (-1, 1) .---------------------------------------. (1, -1)
                    .                   |                   .
                    .                   |                   .
                     .                  |                  .
                      .                 | y-axis          .
                        .               |               .
                  (0, -1) .             |             . (-1, 0)
                            .           |           .
                               .        |        .
                                  . . . . . . .
                                     (-1, -1)


        The joystick is a circle within a circle where the (x, y) coordinates
        of the joystick form an angle with the x-axis.  Our job is to translate
        this angle into the percentage of power that should be sent to each motor.
        For instance if the joystick is moved all the way to the top of the circle
        we want both motors to move forward with 100% power...that is represented
        above by (1, 1).  If the joystick is moved all the way to the right side of
        the circle we want to rotate clockwise so we move the left motor forward 100%
        and the right motor backwards 100%...so (1, -1).  If the joystick is at
        45 degrees then we move apply (1, 0) to move the left motor forward 100% and
        the right motor stays still.

        The 8 points shown above are pretty easy. For the points in between those 8
        we do some math to figure out what the percentages should be. Take 11.25 degrees
        for example. We look at how the motors transition from 0 degrees to 45 degrees:
        - the left motor is 1 so that is easy
        - the right motor moves from -1 to 0

        We determine how far we are between 0 and 45 degrees (11.25 is 25% of 45) so we
        know that the right motor should be 25% of the way from -1 to 0...so -0.75 is the
        percentage for the right motor at 11.25 degrees.
        """

        if 0 <= angle <= 45:

            # left motor stays at 1
            left_speed_percentage = 1

            # right motor transitions from -1 to 0
            right_speed_percentage = -1 + (angle/45.0)

        elif 45 < angle <= 90:

            # left motor stays at 1
            left_speed_percentage = 1

            # right motor transitions from 0 to 1
            percentage_from_45_to_90 = (angle - 45) / 45.0
            right_speed_percentage = percentage_from_45_to_90

        elif 90 < angle <= 135:

            # left motor transitions from 1 to 0
            percentage_from_90_to_135 = (angle - 90) / 45.0
            left_speed_percentage = 1 - percentage_from_90_to_135

            # right motor stays at 1
            right_speed_percentage = 1

        elif 135 < angle <= 180:

            # left motor transitions from 0 to -1
            percentage_from_135_to_180 = (angle - 135) / 45.0
            left_speed_percentage = -1 * percentage_from_135_to_180

            # right motor stays at 1
            right_speed_percentage = 1

        elif 180 < angle <= 225:

            # left motor transitions from -1 to 0
            percentage_from_180_to_225 = (angle - 180) / 45.0
            left_speed_percentage = -1 + percentage_from_180_to_225

            # right motor transitions from 1 to -1
            # right motor transitions from 1 to 0 between 180 and 202.5
            if angle < 202.5:
                percentage_from_180_to_202 = (angle - 180) / 22.5
                right_speed_percentage = 1 - percentage_from_180_to_202

            # right motor is 0 at 202.5
            elif angle == 202.5:
                right_speed_percentage = 0

            # right motor transitions from 0 to -1 between 202.5 and 225
            else:
                percentage_from_202_to_225 = (angle - 202.5) / 22.5
                right_speed_percentage = -1 * percentage_from_202_to_225

        elif 225 < angle <= 270:

            # left motor transitions from 0 to -1
            percentage_from_225_to_270 = (angle - 225) / 45.0
            left_speed_percentage = -1 * percentage_from_225_to_270

            # right motor stays at -1
            right_speed_percentage = -1

        elif 270 < angle <= 315:

            # left motor stays at -1
            left_speed_percentage = -1

            # right motor transitions from -1 to 0
            percentage_from_270_to_315 = (angle - 270) / 45.0
            right_speed_percentage = -1 + percentage_from_270_to_315

        elif 315 < angle <= 360:

            # left motor transitions from -1 to 1
            # left motor transitions from -1 to 0 between 315 and 337.5
            if angle < 337.5:
                percentage_from_315_to_337 = (angle - 315) / 22.5
                left_speed_percentage = (1 - percentage_from_315_to_337) * -1

            # left motor is 0 at 337.5
            elif angle == 337.5:
                left_speed_percentage = 0

            # left motor transitions from 0 to 1 between 337.5 and 360
            elif angle > 337.5:
                percentage_from_337_to_360 = (angle - 337.5) / 22.5
                left_speed_percentage = percentage_from_337_to_360

            # right motor transitions from 0 to -1
            percentage_from_315_to_360 = (angle - 315) / 45.0
            right_speed_percentage = -1 * percentage_from_315_to_360

        else:
            raise Exception('You created a circle with more than 360 degrees ({})...that is quite the trick'.format(angle))

        return (left_speed_percentage * 100, right_speed_percentage * 100)