Create CommandXboxPolarController

[falOn-Dev]

With the gamepads we have, putting the joystick at 45 degrees, does not output a (1, 1) position, the easiest way to get around this is take the position on the unit circle we get from controller.leftX and controller.leftY, and convert it to polar coordinates, giving us an angle and a magnitude.

Resources:

• Explanation on Polar vs Cartesian coordinates
• CommandXboxController JavaDocs
• Rotation2d JavaDocs

Completion Criteria

• CommandXboxPolarController class, that wraps CommandXboxController to add the functionality of a controller.leftAngle and controller.rightAngle that returns a rotation2d storing the direction the joystick is facing, as well as a controller.leftMagnitude and controller.rightMagnitude that return the polar length, on [0, 1], no negative numbers. This class should be placed in src/java/lib/controllers