private static int cardinalYaw (float yaw){
		int cardinalYaw = -1;
		yaw = (yaw % 360 + 360) % 360;
		if (yaw >= 315 || yaw <= 45){
			cardinalYaw = 0;
		}
		else if (yaw > 45 && yaw < 135){
			cardinalYaw = 90;
		}
		else if (yaw >= 135 && yaw <= 225){
			cardinalYaw = 180;
		}
		else if (yaw > 225 && yaw < 315){
			cardinalYaw = 270;
		}
		return cardinalYaw;
	}