Edit** SOLVED I have a XY Point (Start) And a XY Point (End) I am trying to get the YAW Between them or the angle between them. I want the THICK RED Angle. So that would be around 290 or so. I have been using this. But It doesent always work. REF: http://stackoverflow.com/questions/...-angle-between-a-line-and-the-horizontal-axis Code: float x = XPosition - tracks.Last().Position.X; float y = YPosition - tracks.Last().Position.Y; yawGoal = Math.Abs(Convert.ToSingle(Math.Atan2((double)x, (double)y) * 180 / Math.PI)); //These Work But F-B FAILS (Comes up with 115, That is a good angle, But in my project it gos Stright Right...) G-B FAILS (Comes up with 115, That is a good angle, But in my project it gos Stright Right...) Any thoughts? Edit* Looks like Mine Game is setup.... not 0-90-180-270 but 90-180-270-0 Hmm.. But something is wack maybe my axis is reverse too.. Edit** SOLVED Code: if (XPosition < tracks.Last().Position.X) yawGoal = yawGoal + 90; this fixed it.