   }
 }
 
+float angleSubtractf(float angleOne, float angleTwo) {
+    return atan2f(sinf(angleOne - angleTwo), cosf(angleOne - angleTwo));
+}
+

  Wire.begin();
  remoteState = SBTSailbotModelStateManualControl;
  windDirection = -1.0;
  compassOffset = M_PI;
  calibratedWind = false;
  imu = RTIMU::createIMU(&settings);                        // create the imu object


#define MAX_RUDDER 10.0

unsigned long lastDataPacketSent;
unsigned long timeOnCurrentTack;

char state;
char remoteState;
