diff --git a/DiscreteAngle.cpp b/DiscreteAngle.cpp
index 2ce3a55..0a0e4cd 100644
--- a/DiscreteAngle.cpp
+++ b/DiscreteAngle.cpp
@@ -4,6 +4,7 @@
 
 #include "DiscreteAngle.h"
 
+#include "Angle.h"
 #include <math.h>
 
 template <> AngleUsing<unsigned char>::AngleUsing(unsigned char angle) {
@@ -12,19 +13,16 @@ template <> AngleUsing<unsigned char>::AngleUsing(unsigned char angle) {
     return;
   }
 
-  // clamp the float range to -1..1
-  while (angle <= -180.0F)
-    angle += 360.0F;
-  while (angle > 180.0F)
-    angle -= 360.0F;
+  // normalize to (-180..180]
+  angle = Angle::Normalize(angle);
 
-  // map (-180..180] to 1..256
+  // map (-180..180] to (0..255], which is equivaluent to 1..255
   // This means that range value 0 is not used
-  this->value = (unsigned char)((angle + 180.0F) * 255.0F);
+  this->value = (unsigned char)((angle + 180.0F) / 360.0F * 255.0F);
 }
 
 template <> float AngleUsing<unsigned char>::ToFloat() {
-  float f = ((float)this->value / 255.0F) - 180.0F;
+  float f = ((float)this->value / 255.0F) * 360.0F - 180.0F;
   return f;
 }
 
@@ -34,18 +32,15 @@ template <> AngleUsing<unsigned short>::AngleUsing(unsigned short angle) {
     return;
   }
 
-  // clamp the float range to -1..1
-  while (angle <= -180.0F)
-    angle += 360.0F;
-  while (angle > 180.0F)
-    angle -= 360.0F;
+  // normalize to (-180..180]
+  angle = Angle::Normalize(angle);
 
-  // map (-180..180] to 1..256
+  // map (-180..180] to (0..65535] which is equivalent to 1..65535
   // This means that range value 0 is not used
-  this->value = (unsigned short)((angle + 180.0F) * 65535.0F);
+  this->value = (unsigned short)((angle + 180.0F) / 360.0F * 65535.0F);
 }
 
 template <> float AngleUsing<unsigned short>::ToFloat() {
-  float f = ((float)this->value / 65535.0F) - 180.0F;
+  float f = ((float)this->value / 65535.0F) * 360.0F - 180.0F;
   return f;
 }
\ No newline at end of file
diff --git a/DiscreteAngle.h b/DiscreteAngle.h
index f056e7d..0112584 100644
--- a/DiscreteAngle.h
+++ b/DiscreteAngle.h
@@ -3,13 +3,7 @@
 
 #include "Range.h"
 
-// A fixed point 16-bit signed angle between (-180..180]
-// class DiscreteAngle16 : public Range16 {
-// public:
-//   DiscreteAngle16(float angle);
-
-//   inline DiscreteAngle16 &operator-() override;
-// };
+// A fixed angle between (-180..180]
 
 template <typename T> class AngleUsing : RangeUsing<T> {
 public: