Haha, google search pretty much, whilst typing in a bunch on nonsence around the topic of the problem which I was facing. I never would have worked this out by myself.

iPoisonxL's code is almost correct. One thing is missing, namely the two angles zero and 2pi are the same, even though the two numbers differ a lot. To determine whether to turn left or right, you need calculate diff as follows: local diff = (goal-current+math.pi)%(2*math.pi)-math.pi That way diff ...