Minimum Swerve Wheel Rotation

wheel.java

public class Main {

  public static void main(String[] args) {
    minRotation(359, 0);
    minRotation(359, 1);
    minRotation(90, -90);
    minRotation(180, -180);
    minRotationWithReverse(359, 1);
    minRotationWithReverse(90, -90);
    minRotationWithReverse(180, -180);
    minRotationWithReverse(30, 270);
    minRotationWithReverse(0, 90);
    minRotationWithReverse(0, 91);
  }

  static void minRotation(double current, double desired) {
    double rotation = Math.IEEEremainder(desired - current, 360);
    System.out.printf("current = %7.2f, desired = %7.2f, rotation = %7.2f%n", current, desired, rotation);
  }

  static void minRotationWithReverse(double current, double desired) {
    double rotation = Math.IEEEremainder(desired - current, 360);

    boolean reverse = false;
    if (Math.abs(rotation) > 90) {
      rotation -= Math.copySign(180, rotation);
      reverse = true;
    }

    System.out.printf("current = %7.2f, desired = %7.2f, rotation = %7.2f, reverse = %b %n", current, desired, rotation, reverse);
  }
}

Output:

current =  359.00, desired =    0.00, rotation =    1.00
current =  359.00, desired =    1.00, rotation =    2.00
current =   90.00, desired =  -90.00, rotation = -180.00
current =  180.00, desired = -180.00, rotation =   -0.00
current =  359.00, desired =    1.00, rotation =    2.00, reverse = false 
current =   90.00, desired =  -90.00, rotation =    0.00, reverse = true 
current =  180.00, desired = -180.00, rotation =   -0.00, reverse = false 
current =   30.00, desired =  270.00, rotation =   60.00, reverse = true 
current =    0.00, desired =   90.00, rotation =   90.00, reverse = false 
current =    0.00, desired =   91.00, rotation =  -89.00, reverse = true