private double getDegrees(RaceTrack track)
    {
        this.tangent = track.getTangent(time%1);
        double degrees = acos(this.tangent.normalized().dot(Robot.normal));
        degrees = toDegrees(degrees+PI);
        for(;degrees < 0;)degrees += 360;
        degrees %= 360;
        if(time%1 < 0.25 || time%1 > 0.75)
            degrees *= -1;
        degrees -= 90;
        for(;degrees < 0;)degrees += 360;
        degrees %= 360;
        return degrees;
    }