def getDriveAngle (x, y, zeroAngle):
	fallingAngle = math.atan2(x, y)
	if fallingAngle < 0:
	    fallingAngle = fallingAngle + 2 * math.pi
	drivingAngle = fallingAngle + math.pi + zeroAngle
	if drivingAngle > 2 * math.pi:
	    drivingAngle = drivingAngle - 2 * math.pi
	return drivingAngle
dataset/ETHPy150Open ericboehlke/BB-8/IMU_test.py/getDriveAngle/original