public static boolean hasAngleBetween(double leftAngle, double rightAngle, double testAngle)
    {
        if (leftAngle <= rightAngle)
        {
            if (testAngle > leftAngle && testAngle < rightAngle)
                return true;
        }
        else
        {
            if (testAngle < rightAngle || testAngle > leftAngle)
                return true;
        }
        return false;
    }