double calcPathAngle(double DesiredX, double DesiredY) {

		double currentX = odo.getX();
		double currentY = odo.getY();

		double degreeWant = Math.atan(Math.abs(DesiredY - currentY)
				/ Math.abs(DesiredX - currentX))
				* 180 / Math.PI;
		// In the first quadrant
		if (DesiredX - currentX > 0 && DesiredY - currentY > 0) {
			return degreeWant;
			// In the second octet
		} else if (DesiredX - currentX < 0 && DesiredY - currentY > 0) {
			return 180 - degreeWant;
		} else if (DesiredX - currentX < 0 && DesiredY - currentY < 0) {
			return 180 + degreeWant;
		}
		// In the 4th quadrant
		else if (DesiredX - currentX > 0 && DesiredY - currentY < 0) {
			return -degreeWant;
		} else {
			return 0;
		}

	}