double targetX = 4.0;
		double targetY = 4.0;
		boolean headingToGoal = false;
		double goalHeading = Math.atan((targetX-x)/(targetY-y));
		goalHeading = (double)Math.round(goalHeading * 10) / 10;

		if (targetX >= 0) {
			if (targetY >= 0) {
				goalHeading = Math.abs(goalHeading);
			} else {
				goalHeading = Math.abs(goalHeading) + (Math.PI / 2);
			}
		}
		else if (targetY >= 0) {
			goalHeading = Math.abs(goalHeading) + Math.PI + (Math.PI / 2);
		} else {
			goalHeading = Math.abs(goalHeading) + Math.PI;
		}