diff --git a/Polar.cpp b/Polar.cpp
index aa28e9a..f72a692 100644
--- a/Polar.cpp
+++ b/Polar.cpp
@@ -2,6 +2,7 @@
 
 #include "Angle.h"
 #include "Polar.h"
+#include "Vector2.h"
 
 Polar::Polar() {
   angle = 0.0F;
@@ -19,6 +20,12 @@ Polar::Polar(float newAngle, float newDistance) {
   }
 }
 
+Polar::Polar(Vector2 v) {
+  float signY = (v.y >= 0) - (v.y < 0);
+  angle = atan2(v.y, signY * sqrt(v.y * v.y + v.x * v.x)) * Angle::Rad2Deg;
+  distance = v.magnitude();
+}
+
 const Polar Polar::zero = Polar(0, 0);
 
 float Polar::Distance(const Polar &v1, const Polar &v2) {
diff --git a/Polar.h b/Polar.h
index cbb161f..6060364 100644
--- a/Polar.h
+++ b/Polar.h
@@ -5,13 +5,15 @@
 #ifndef POLAR_H
 #define POLAR_H
 
+class Vector2;
+
 /// <summary>
 /// A polar vector
 /// </summary>
 /// This will use the polar coordinate system consisting of a angle from a
 /// reference direction and a distance.
 struct Polar {
- public:
+public:
   /// <summary>
   /// The angle in degrees, clockwise rotation
   /// </summary>
@@ -34,6 +36,8 @@ struct Polar {
   /// <param name="distance">The distance in meters</param>
   Polar(float angle, float distance);
 
+  Polar(Vector2 v);
+
   /// <summary>
   /// A polar vector with zero degrees and distance
   /// </summary>
@@ -51,14 +55,14 @@ struct Polar {
   /// </summary>
   /// <param name="v">The vector to subtract from this vector</param>
   /// <returns>The result of the subtraction</returns>
-  Polar operator-(const Polar& v) const;
+  Polar operator-(const Polar &v) const;
 
   /// <summary>
   /// Add another polar vector to this polar vector
   /// </summary>
   /// <param name="v">The vector to add</param>
   /// <returns>The result of adding the vector</returns>
-  Polar operator+(const Polar& v) const;
+  Polar operator+(const Polar &v) const;
 
   /// <summary>
   /// Scale the vector uniformly up
@@ -76,7 +80,7 @@ struct Polar {
   /// <returns>The scaled vector</returns>
   /// This operation will scale the distance of the vector. The angle will be
   /// unaffected.
-  Polar operator/(const float& factor);
+  Polar operator/(const float &factor);
 
   /// <summary>
   /// The distance between two vectors
@@ -84,7 +88,7 @@ struct Polar {
   /// <param name="v1">The first vector</param>
   /// <param name="v2">The second vector</param>
   /// <returns>The distance between the two vectors</returns>
-  static float Distance(const Polar& v1, const Polar& v2);
+  static float Distance(const Polar &v1, const Polar &v2);
 
   /// <summary>
   /// Rotate the vector