diff --git a/IO.hpp b/IO.hpp
index 98f22c1..638ac0f 100644
--- a/IO.hpp
+++ b/IO.hpp
@@ -152,19 +152,29 @@ class IO {
   float getAngle(Axes axis)
   {
     float x, y, z;
+    float angle;
 
     m_code_cell->Motion_RotationRead(x, y, z);
 
     switch(axis)
     {
      case Axes::X:
-      return x - m_init_x;
+      angle = x - m_init_x;
+      if(angle < -180) angle += 360;
+      if(angle > 180) angle -= 360;
+      return angle;
 
      case Axes::Y:
-      return y - m_init_y;
+      angle = y - m_init_y;
+      if(angle < -180) angle += 360;
+      if(angle > 180) angle -= 360;
+      return angle;
 
      default:
-      return z - m_init_z;
+      angle = z - m_init_z;
+      if(angle < -180) angle += 360;
+      if(angle > 180) angle -= 360;
+      return angle;
     }
   }