public boolean computeAngle(double formula, boolean goRight, boolean goLeft) {
		boolean finishedComputing = false;
		double theta = formula;
		if (theta < 0) theta += 2*Math.PI;
		theta *= 180 / Math.PI;
		
		// Rotate left
		if (myAngle > (int) theta && goLeft) {
			myAngle -= 1;
		} 
		
		// Rotate right
		if (myAngle < (int) theta && goRight) {
			System.out.println(myAngle + " < " + (int) theta);
			myAngle += 1;
		}
		
		// Finished turning
		if (myAngle == (int) theta) {
			System.out.println("Done: " + myAngle + " = " + (int) theta);
			finishedComputing = true;
		}
		
		return finishedComputing;
	}