function [v, theta] = calc_params(vmax, thetamax, v_hist, theta_hist, dist_hist)
%UNTITLED Summary of this function goes here
%   Detailed explanation goes here


angles = [1:45];
left = angles(1);
right = angles(end);

%counter = 1;

if theta_hist

    for i = 1:length(theta_hist)
        if dist_hist(i) == 1
            angles = angles(find(angles == left):(find(angles == theta_hist(i))));
            right = angles(end);
            %counter = counter + 1;
        else
            angles = angles((find(angles == theta_hist(i))):find(angles == right));
            left = angles(1);
            %counter = counter + 1;
        end
    end
end

theta = angles(ceil(end/2));

%If we don't hit by the time we reach this angle, start reducing velocity.
if theta <= 3
    v = v_hist(end)-10;
else v = vmax;