velocity correction and shooter tables time

src/main/java/frc4388/utility/Vector2D.java

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+// 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 frc4388.utility;
+
+import edu.wpi.first.wpilibj.drive.Vector2d;
+
+/** Aarav's good vector class (better than WPILib) */
+public class Vector2D extends Vector2d {
+
+  public double x;
+  public double y;
+
+  public Vector2D() {
+    super();
+  }
+
+  public Vector2D(double x, double y) {
+    super(x, y);
+
+    this.x = x;
+    this.y = y;
+  }
+
+  public static Vector2D add(Vector2D v1, Vector2D v2) {
+    return new Vector2D(v1.x + v2.x, v1.y + v2.y);
+  }
+
+  public static Vector2D subtract(Vector2D v1, Vector2D v2) {
+    return new Vector2D(v1.x - v2.x, v1.y - v2.y);
+  }
+
+  public static Vector2D multiply(Vector2D v1, double scalar) {
+    return new Vector2D(scalar * v1.x, scalar * v1.y);
+  }
+
+  public static Vector2D round(Vector2D v, int places) {
+    int scale = (int) Math.pow(10, places);
+
+    v = Vector2D.multiply(v, scale);
+
+    v.x = Math.round(v.x);
+    v.y = Math.round(v.y);
+    v.x = v.x / scale;
+    v.y = v.y / scale;
+
+    return v;
+  }
+
+  @Override
+  public String toString() {
+    return ("(" + this.x + ", " + this.y + ")");
+  }
+
+}