SteeringController

#SteeringController The Class that manages steering. This Class will use a lot of other classes to get the desired steering angle.

##Methods ###headingChange Description: Takes a number and will change the heading based on the number. If the number is larger that what is straight then it will add to the heading. If it is smaller it will subtract.

Inputs:

Name	Type	Description
steeringCommand	int	Changes which which way to change the heading

Outputs: This code will change wantedHeading to the wanted new heading.

###change Description: This will return a number that can move a servo into the correct position. Output: int -> A number used to change a steering servo.

###getWantedHeading Description: Will return the current wantedHeading in the correct format. Output: double -> This is the wanted heading in degree format.

###checkHeading Description: A private method that is used to check the heading has not gone out of bounds. If it has it will convert it to the correct heading.

##Variables

Name	Type	View	Description
lastSteeringCommand	long	Private	Keeps track of the last command that was sent
wantedHeading	double	Private	This is the desired heading of the user
currentHeading	double	Private	The current heading of the vehicle