[lifthrasiir]

This code consistently converts angles to the [0, 360) range, which is IMO overkill. A better approach is to normalize everything to [0, 2) range so that you can simply multiply or divide by pi to get the radians. If your math library has `sinpi` or `cospi` it will be even more accurate, as it no longer has to divide by 2pi to do the actual calculation.