I am looking for some of the documents linked in this post:
More specifically, this link:
I corrected the typo, and updated the paper to use clockwise angles for the gyro and the wheel steering.
And this link:
Here’s a handy “cheat sheet” for converting Cartesian coodinates to zero to 360 degrees, measured either clockwise or counterclockwise from any of the four quadrantal angles (0, 90, 180, 270):