Function input_shaping_angle 

pub fn input_shaping_angle(
    error_angle: f32,
    input_tc: f32,
    accel_max: f32,
    target_ang_vel: f32,
    desired_ang_vel: f32,
    max_ang_vel: f32,
    dt: f32,
) -> f32

Calculate the velocity correction from an angle error. The angular velocity has acceleration and deceleration limits including basic jerk limiting using _input_tc