From dbe87cd7c1d9b073a120ba39f59b5a401adc29e0 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Wed, 16 Mar 2022 15:13:34 -0600
Subject: [PATCH] sum change

---
 .../java/frc4388/robot/RobotContainer.java     |  1 +
 src/main/java/frc4388/utility/Vector2D.java    | 18 +++++++-----------
 2 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 2d5a2d4..13fa067 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -76,6 +76,7 @@ import frc4388.robot.subsystems.VisionOdometry;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.ListeningSendableChooser;
 import frc4388.utility.PathPlannerUtil;
+import frc4388.utility.Vector2D;
 import frc4388.utility.PathPlannerUtil.Path.Waypoint;
 import frc4388.utility.controller.DeadbandedXboxController;
 
diff --git a/src/main/java/frc4388/utility/Vector2D.java b/src/main/java/frc4388/utility/Vector2D.java
index db6b361..3d658fc 100644
--- a/src/main/java/frc4388/utility/Vector2D.java
+++ b/src/main/java/frc4388/utility/Vector2D.java
@@ -8,6 +8,7 @@ import java.security.InvalidParameterException;
 
 import org.opencv.core.Point;
 
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.drive.Vector2d;
 
 /**
@@ -22,8 +23,7 @@ public class Vector2D extends Vector2d {
   public double angle;
 
   public Vector2D() {
-    super();
-    this.angle = Math.atan2(this.y, this.x);
+    this(0, 0);
   }
 
   public Vector2D(double x, double y) {
@@ -35,23 +35,19 @@ public class Vector2D extends Vector2d {
   }
 
   public Vector2D(double[] vec) {
-    super(vec[0], vec[1]);
+    this(vec[0], vec[1]);
 
     if (vec.length != 2) {
       throw new InvalidParameterException();
     }
-
-    this.x = vec[0];
-    this.y = vec[1];
-    this.angle = Math.atan2(this.y, this.x);
   }
 
   public Vector2D(Point p) {
-    super(p.x, p.y);
+    this(p.x, p.y);
+  }
 
-    this.x = p.x;
-    this.y = p.y;
-    this.angle = Math.atan2(this.y, this.x);
+  public Vector2D(Translation2d t) {
+    this(t.getX(), t.getY());
   }
 
   /**