yaw(kat) adjustment

double yawT = Utils.getYaw(v);
double yawM = yaw % (-2*Math.PI);
double yawTM = yawT % (-2*Math.PI);
if (yawT==yaw) {
    //do nothing, we're facing the right way.
}
else if ((yawM<yawTM)&&(yawM>yawTM-Math.PI)) {
    yaw = Math.min(yaw+.2, yawT);
}
else {
    yaw = Math.max(yaw-.2,yawT);
}