We have an AngularJS site using HTML5 routes. I just did some test \"Fetch as Google\" runs. The results are a bit confusing:
Maybe a bit outdated, but for the completeness:
According to the statement from May 23, 2014 Google bot is now able to "see your content more like modern Web browsers".
According to their statement from October 14, 2015 Google deprecated the AJAX crawling scheme.
So using the HTML5 History API (html5mode in angular) should be no problem to Google.