diff --git a/y2019/joystick_angle.cc b/y2019/joystick_angle.cc
index 1923c53..90baf32 100644
--- a/y2019/joystick_angle.cc
+++ b/y2019/joystick_angle.cc
@@ -1,9 +1,20 @@
+#include <cmath>
+
+#include "frc971/zeroing/wrap.h"
 #include "y2019/joystick_angle.h"
 
 namespace y2019 {
 namespace input {
 namespace joysticks {
 
+using ::frc971::zeroing::Wrap;
+
+bool AngleCloseTo(double angle, double near, double range) {
+  double wrapped_angle = Wrap(near, angle, 2 * M_PI);
+
+  return ::std::abs(wrapped_angle - near) < range;
+}
+
 JoystickAngle GetJoystickPosition(const JoystickAxis &x_axis,
                                   const JoystickAxis &y_axis,
                                   const Data &data) {
@@ -11,26 +22,30 @@
 }
 
 JoystickAngle GetJoystickPosition(float x_axis, float y_axis) {
-  if (x_axis > kJoystickRight) {
-    if (y_axis < kJoystickDown) {
-      return JoystickAngle::kUpperRight;
-    } else if (y_axis > kJoystickUp) {
-      return JoystickAngle::kLowerRight;
-    } else {
-      return JoystickAngle::kMiddleRight;
-    }
-  } else if (x_axis < kJoystickLeft) {
-    if (y_axis < kJoystickDown) {
-      return JoystickAngle::kUpperLeft;
-    } else if (y_axis > kJoystickUp) {
-      return JoystickAngle::kLowerLeft;
-    } else {
-      return JoystickAngle::kMiddleLeft;
-    }
+  const float magnitude = hypot(x_axis, y_axis);
+
+  if (magnitude < 0.5) {
+    return JoystickAngle::kDefault;
   }
+
+  double angle = atan2(y_axis, x_axis);
+
+  if (AngleCloseTo(angle, M_PI / 3, M_PI / 6)) {
+    return JoystickAngle::kUpperRight;
+  } else if (AngleCloseTo(angle, 2 * M_PI / 3, M_PI / 6)) {
+    return JoystickAngle::kUpperLeft;
+  } else if (AngleCloseTo(angle, M_PI, M_PI / 6)) {
+    return JoystickAngle::kMiddleLeft;
+  } else if (AngleCloseTo(angle, 0, M_PI / 6)) {
+    return JoystickAngle::kMiddleRight;
+  } else if (AngleCloseTo(angle, -M_PI / 3, M_PI / 6)) {
+    return JoystickAngle::kLowerRight;
+  } else if (AngleCloseTo(angle, -2 * M_PI / 3, M_PI / 6)) {
+    return JoystickAngle::kLowerLeft;
+  }
+
   return JoystickAngle::kDefault;
 }
-
 }  // namespace joysticks
 }  // namespace input
 }  // namespace y2019