renamed previous(current)Angle to previous(current)AngleRads
Revert "renamed previous(current)Angle to previous(current)AngleRads"

This reverts commit 6755325fb0e620187a976df8f8c1124912d7df16.
renamed some variables. temporarily disabled playback. dealing with currentAngle measurement.
removed NSLog statements
rotation bug fixed
halfsteeringwheelrotation working now too