Swerve threading

src/main/java/frc/robot/subsystems/Angle.java

@@ -1,51 +1,63 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.subsystems;
-
-public final class Angle {
-	public static final double TAU = Math.PI * 2;
-
-	private double dec = 0.0;
-
-	public double radians() {
-		return dec * TAU;
-	}
-
-	public double degrees() {
-		return dec * 360.0;
-	}
-
-	public Angle setRadians(double radians) {
-		dec = radians / TAU;
-		return this;
-	}
-
-	public Angle setDegrees(double degrees) {
-		dec = degrees / 360.0;
-		return this;
-	}
-
-	public Angle add(Angle other) {
-		var angle = new Angle();
-		angle.dec = this.dec + other.dec;
-		return angle;
-	}
-
-	public Angle sub(Angle other) {
-		var angle = new Angle();
-		angle.dec = this.dec - other.dec;
-		return angle;
-	}
-
-	/**
-	 * Creates a new identical angle so that modification of the original will not
-	 * effect the value returned from this function.
-	 */
-	public Angle clone() {
-		var ang = new Angle();
-		ang.dec = this.dec;
-		return ang;
-	}
-}
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+public final class Angle implements Cloneable {
+	public static final double TAU = Math.PI * 2;
+
+	private double dec = 0.0;
+
+	public double radians() {
+		return dec * TAU;
+	}
+
+	public double degrees() {
+		return dec * 360.0;
+	}
+
+	public Angle setRadians(double radians) {
+		dec = radians / TAU;
+		return this;
+	}
+
+	public Angle setDegrees(double degrees) {
+		dec = degrees / 360.0;
+		return this;
+	}
+
+	public Angle add(Angle other) {
+		var angle = new Angle();
+		angle.dec = this.dec + other.dec;
+		return angle;
+	}
+
+	public Angle sub(Angle other) {
+		var angle = new Angle();
+		angle.dec = this.dec - other.dec;
+		return angle;
+	}
+
+	public Angle mul(double scalar) {
+		var angle = new Angle();
+		angle.dec = this.dec * scalar;
+		return angle;
+	}
+
+	public Angle div(double scalar) {
+		return this.mul(1 / scalar);
+	}
+
+	@Override
+	public Angle clone() {
+		var ang = new Angle();
+		ang.dec = this.dec;
+		return ang;
+	}
+
+	@Override
+	public String toString() {
+		return this.degrees() + "°";
+	}
+}