should be : return y < 0 and -self.CONSTANT.HALFPI or self.CONSTANT.HALFPI, I persume? <img width="1150" height="172" alt="Image" src="https://github.com/user-attachments/assets/2642e107-2d0b-4be8-ba25-b40a40b229f3" />
should be : return y < 0 and -self.CONSTANT.HALFPI or self.CONSTANT.HALFPI, I persume?