From efcb985329b6f34bbaa2131e9be345d22af18c1d Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 11:52:10 -0400
Subject: [PATCH 01/11] chore(build): add WPILib math to dependencies

---
 build.gradle | 1 +
 1 file changed, 1 insertion(+)

diff --git a/build.gradle b/build.gradle
index 982e60b..669eb64 100644
--- a/build.gradle
+++ b/build.gradle
@@ -44,6 +44,7 @@ dependencies {
     compileOnly "edu.wpi.first.wpilibj:wpilibj-java:2024.3.2"
     compileOnly "edu.wpi.first.wpiutil:wpiutil-java:2024.3.2"
     compileOnly "edu.wpi.first.wpilibj:commands:2024.3.2"
+    compileOnly "edu.wpi.first.wpimath:wpimath-java:2024.3.2"
     compileOnly "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2024.3.2"
 
     // PathPlannerLib

From feed83024ffafce9e8aa512acbfee9e42b82aa2b Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 11:52:45 -0400
Subject: [PATCH 02/11] feat(math/curves): implement abstract Curve class and
 multiple different curve types.

This commit adds the following curve types:
 - ExponentialCurve - y = (x/|x|) * ((1 + exaggeration)^|x| - 1) / exaggeration.
 - LimitedCurve - Limits another curve to a minimum and maximum value.
 - LinearCurve - y = mx + b
 - PiecewiseCurve - Piecewise functions using Java lambdas/functions for conditions
 - QuadraticCurve - Ax^2 + Bx + C
 - RadicalCurve - y = (x+C)^(1/A)+B
 - TimedCurve - An abstract curve that toggles between two outputs based on a timer.
 - NormalTimedCurve - A TimedCurve that toggles between x (when enabled) and curve(x) (when disabled).
 - DoubleTimedCurve - A TimedCurve that toggles between two curves.
 - ZeroTimedCurve - A TimedCurve that toggles between 0 (when disabled) and curve(x) (when enabled).
---
 .../frc5183/librobot/math/curve/Curve.java    |  13 ++
 .../librobot/math/curve/DoubleTimedCurve.java |  72 ++++++++++
 .../librobot/math/curve/ExponentialCurve.java |  44 ++++++
 .../librobot/math/curve/LimitedCurve.java     |  87 ++++++++++++
 .../librobot/math/curve/LinearCurve.java      |  64 +++++++++
 .../librobot/math/curve/NormalTimedCurve.java |  48 +++++++
 .../librobot/math/curve/PiecewiseCurve.java   | 127 ++++++++++++++++++
 .../librobot/math/curve/QuadraticCurve.java   |  87 ++++++++++++
 .../librobot/math/curve/RadicalCurve.java     |  87 ++++++++++++
 .../librobot/math/curve/TimedCurve.java       |  97 +++++++++++++
 .../librobot/math/curve/ZeroTimedCurve.java   |  48 +++++++
 11 files changed, 774 insertions(+)
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/Curve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/LinearCurve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/PiecewiseCurve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/QuadraticCurve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java
 create mode 100644 src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java

diff --git a/src/main/java/net/frc5183/librobot/math/curve/Curve.java b/src/main/java/net/frc5183/librobot/math/curve/Curve.java
new file mode 100644
index 0000000..4e0130e
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/Curve.java
@@ -0,0 +1,13 @@
+package net.frc5183.librobot.math.curve;
+
+/**
+ * An abstract class which represents a mathematical function/curve.
+ */
+public abstract class Curve {
+    /**
+     * Returns the value of the curve at the given x value.
+     * @param x The x value to evaluate the curve at.
+     * @return The value of the curve at the given x value.
+     */
+    public abstract Double curve(Double x);
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java
new file mode 100644
index 0000000..5d50753
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java
@@ -0,0 +1,72 @@
+package net.frc5183.librobot.math.curve;
+
+/**
+ * A {@link TimedCurve} that toggles between two curves.
+ */
+public class DoubleTimedCurve extends TimedCurve {
+    /**
+     * The curve to use when the curve is enabled.
+     */
+    private Curve enabledCurve;
+
+    /**
+     * The curve to use when the curve is disabled.
+     */
+    private Curve disabledCurve;
+
+    /**
+     * Creates a new {@link DoubleTimedCurve} with the given curves and delays.
+     * @param enabledCurve The curve to use when this curve is enabled.
+     * @param disabledCurve The curve to use when this curve is disabled.
+     * @param delayEnabled The delay in seconds before the curve is enabled.
+     * @param delayDisabled The delay in seconds before the curve is disabled.
+     * @see TimedCurve#TimedCurve(Double, Double)
+     */
+    public DoubleTimedCurve(Curve enabledCurve, Curve disabledCurve, Double delayEnabled, Double delayDisabled) {
+        super(delayEnabled, delayDisabled);
+        this.enabledCurve = enabledCurve;
+        this.disabledCurve = disabledCurve;
+    }
+
+    @Override
+    protected Double enabled(Double x) {
+        return enabledCurve.curve(x);
+    }
+
+    @Override
+    protected Double disabled(Double x) {
+        return disabledCurve.curve(x);
+    }
+
+    /**
+     * Returns the curve to use when this curve is enabled.
+     * @return The curve to use when this curve is enabled.
+     */
+    public Curve getEnabledCurve() {
+        return enabledCurve;
+    }
+
+    /**
+     * Sets the curve to use when this curve is enabled.
+     * @param enabledCurve The new curve to use when the curve is enabled.
+     */
+    public void setEnabledCurve(Curve enabledCurve) {
+        this.enabledCurve = enabledCurve;
+    }
+
+    /**
+     * Returns the curve to use when this curve is disabled.
+     * @return The curve to use when this curve is disabled.
+     */
+    public Curve getDisabledCurve() {
+        return disabledCurve;
+    }
+
+    /**
+     * Sets the curve to use when this curve is disabled.
+     * @param disabledCurve The new curve to use when the curve is disabled.
+     */
+    public void setDisabledCurve(Curve disabledCurve) {
+        this.disabledCurve = disabledCurve;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
new file mode 100644
index 0000000..a7d362d
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
@@ -0,0 +1,44 @@
+package net.frc5183.librobot.math.curve;
+
+/**
+ * An {@link Curve} which represents an exponential function in the form y = (x/|x|) * ((1 + k)^|x| - 1) / k.
+ * Where k is the exaggeration of the curve.
+ */
+public class ExponentialCurve extends Curve {
+    /**
+     * The exaggeration of the curve.
+     */
+    private double exaggeration;
+
+    /**
+     * Creates a new {@link ExponentialCurve} with the given exaggeration.
+     * @param exaggeration The exaggeration of the curve.
+     */
+    public ExponentialCurve(double exaggeration) {
+        this.exaggeration = exaggeration;
+    }
+
+    @Override
+    public Double curve(Double x) {
+        if (x == 0) return 0d;
+
+        // y = (x/|x|) * ((1 + exaggeration)^|x| - 1) / exaggeration
+        return (x / Math.abs(x)) * ((Math.pow(1 + exaggeration, Math.abs(x))) - 1) / exaggeration;
+    }
+
+    /**
+     * Returns the exaggeration of the curve.
+     * @return The exaggeration of the curve.
+     */
+    public double getExaggeration() {
+        return exaggeration;
+    }
+
+    /**
+     * Sets the exaggeration of the curve.
+     * @param exaggeration The new exaggeration of the curve.
+     */
+    public void setExaggeration(double exaggeration) {
+        this.exaggeration = exaggeration;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
new file mode 100644
index 0000000..66534ce
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
@@ -0,0 +1,87 @@
+package net.frc5183.librobot.math.curve;
+
+/**
+ * A {@link Curve} which limits the output of another curve to a certain range.
+ */
+public class LimitedCurve extends Curve {
+    /**
+     * The curve to limit.
+     */
+    private Curve curve;
+
+    /**
+     * The minimum value of the curve.
+     */
+    private Double min;
+
+    /**
+     * The maximum value of the curve.
+     */
+    private Double max;
+
+    /**
+     * Creates a new {@link LimitedCurve} with the given curve, minimum, and maximum values.
+     * @param curve The curve to limit.
+     * @param min The minimum value of the curve.
+     * @param max The maximum value of the curve.
+     */
+    public LimitedCurve(Curve curve, Double min, Double max) {
+        this.curve = curve;
+        this.min = min;
+        this.max = max;
+    }
+
+    @Override
+    public Double curve(Double x) {
+        Double y = curve.curve(x);
+        return Math.min(Math.max(y, min), max);
+    }
+
+    /**
+     * Returns the curve to limit.
+     * @return The curve to limit.
+     */
+    public Curve getCurve() {
+        return curve;
+    }
+
+    /**
+     * Sets the curve to limit.
+     * @param curve The new curve to limit.
+     */
+    public void setCurve(Curve curve) {
+        this.curve = curve;
+    }
+
+    /**
+     * Returns the minimum value of the curve.
+     * @return The minimum value of the curve.
+     */
+    public Double getMin() {
+        return min;
+    }
+
+    /**
+     * Sets the minimum value of the curve.
+     * @param min The new minimum value of the curve.
+     */
+    public void setMin(Double min) {
+        this.min = min;
+    }
+
+    /**
+     * Returns the maximum value of the curve.
+     * @return The maximum value of the curve.
+     */
+    public Double getMax() {
+        return max;
+    }
+
+    /**
+     * Sets the maximum value of the curve.
+     * @param max The new maximum value of the curve.
+     */
+    public void setMax(Double max) {
+        this.max = max;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/LinearCurve.java b/src/main/java/net/frc5183/librobot/math/curve/LinearCurve.java
new file mode 100644
index 0000000..8f96bec
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/LinearCurve.java
@@ -0,0 +1,64 @@
+package net.frc5183.librobot.math.curve;
+
+/**
+ * A {@link Curve} which represents a linear equation in the form y = mx + b.
+ */
+public class LinearCurve extends Curve {
+    /**
+     * The slope of the curve.
+     */
+    private double slope;
+
+    /**
+     * The y-intercept of the curve.
+     */
+    private double yIntercept;
+
+    /**
+     * Creates a new {@link LinearCurve} with the given slope and y-intercept.
+     * @param slope The slope of the curve.
+     * @param yIntercept The y-intercept of the curve.
+     */
+    public LinearCurve(double slope, double yIntercept) {
+        this.slope = slope;
+        this.yIntercept = yIntercept;
+    }
+
+    @Override
+    public Double curve(Double x) {
+        // y = mx + b
+        return slope * x + yIntercept;
+    }
+
+    /**
+     * Returns the slope of the curve.
+     * @return The slope of the curve.
+     */
+    public double getSlope() {
+        return slope;
+    }
+
+    /**
+     * Sets the slope of the curve.
+     * @param slope The new slope of the curve.
+     */
+    public void setSlope(double slope) {
+        this.slope = slope;
+    }
+
+    /**
+     * Returns the y-intercept of the curve.
+     * @return The y-intercept of the curve.
+     */
+    public double getYIntercept() {
+        return yIntercept;
+    }
+
+    /**
+     * Sets the y-intercept of the curve.
+     * @param yIntercept The new y-intercept of the curve.
+     */
+    public void setYIntercept(double yIntercept) {
+        this.yIntercept = yIntercept;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java
new file mode 100644
index 0000000..d3fb978
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java
@@ -0,0 +1,48 @@
+package net.frc5183.librobot.math.curve;
+
+/**
+ * A @{link TimedCurve} that toggles between x (when disabled) and curve(x) (when enabled).
+ */
+public class NormalTimedCurve extends TimedCurve {
+    /**
+     * The curve to use when this curve is enabled.
+     */
+    private Curve curve;
+
+    /**
+     * Creates a new {@link NormalTimedCurve} with the given curve and delays.
+     * @param curve The curve to use when this curve is enabled.
+     * @param delayEnabled The delay in seconds before the curve is enabled.
+     * @param delayDisabled The delay in seconds before the curve is disabled.
+     */
+    public NormalTimedCurve(Curve curve, Double delayEnabled, Double delayDisabled) {
+        super(delayEnabled, delayDisabled);
+        this.curve = curve;
+    }
+
+    @Override
+    protected Double enabled(Double x) {
+        return curve(x);
+    }
+
+    @Override
+    protected Double disabled(Double x) {
+        return x;
+    }
+
+    /**
+     * Returns the curve to use when this curve is enabled.
+     * @return The curve to use when this curve is enabled.
+     */
+    public Curve getCurve() {
+        return curve;
+    }
+
+    /**
+     * Sets the curve to use when this curve is enabled.
+     * @param curve The new curve to use when the curve is enabled.
+     */
+    public void setCurve(Curve curve) {
+        this.curve = curve;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/PiecewiseCurve.java b/src/main/java/net/frc5183/librobot/math/curve/PiecewiseCurve.java
new file mode 100644
index 0000000..b27c9af
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/PiecewiseCurve.java
@@ -0,0 +1,127 @@
+package net.frc5183.librobot.math.curve;
+
+import java.util.Map;
+import java.util.function.BiConsumer;
+import java.util.function.Consumer;
+import java.util.function.Function;
+
+/**
+ * A {@link Curve} which represents a curve that is defined by multiple curves.
+ * The curve is determined by the first curve that returns true for its condition.
+ * If no conditions are met, the curve returns 0.
+ */
+public class PiecewiseCurve extends Curve {
+    /**
+     * A map of conditions to curves.
+     */
+    private final Map<Function<Double, Boolean>, Curve> curves;
+
+    /**
+     * Creates a new {@link PiecewiseCurve} with no curves.
+     */
+    public PiecewiseCurve() {
+        this.curves = Map.of();
+    }
+
+    /**
+     * Creates a new {@link PiecewiseCurve} with the given condition and curve.
+     * @param condition The condition for the curve.
+     * @param curve The curve to use when the condition is true.
+     */
+    public PiecewiseCurve(Function<Double, Boolean> condition, Curve curve) {
+        this.curves = Map.of(condition, curve);
+    }
+
+    /**
+     * Creates a new {@link PiecewiseCurve} with the given conditions and curves.
+     * @param curves The conditions and curves to use.
+     */
+    @SafeVarargs
+    public PiecewiseCurve(Map.Entry<Function<Double, Boolean>, Curve>... curves) {
+        this.curves = Map.ofEntries(curves);
+    }
+
+    /**
+     * Creates a new {@link PiecewiseCurve} with the given conditions and curves.
+     * @param curves The conditions and curves to use.
+     */
+    public PiecewiseCurve(Map<Function<Double, Boolean>, Curve> curves) {
+        this.curves = curves;
+    }
+
+    @Override
+    public Double curve(Double x) {
+        for (Map.Entry<Function<Double, Boolean>, Curve> entry : curves.entrySet()) {
+            if (entry.getKey().apply(x)) {
+                return entry.getValue().curve(x);
+            }
+        }
+        return 0d;
+    }
+
+    /**
+     * Iterates over all the curves in this piecewise curve.
+     * @param consumer The consumer to apply to each curve.
+     */
+    public void forEach(Consumer<Curve> consumer) {
+        curves.values().forEach(consumer);
+    }
+
+    /**
+     * Iterates over all the conditions in this piecewise curve.
+     * @param consumer The consumer to apply to each condition.
+     */
+    public void forEachKey(Consumer<Function<Double, Boolean>> consumer) {
+        curves.keySet().forEach(consumer);
+    }
+
+    /**
+     * Iterates over all the conditions and curves in this piecewise curve.
+     * @param consumer The consumer to apply to each condition and curve.
+     */
+    public void forEachEntry(BiConsumer<Function<Double, Boolean>, Curve> consumer) {
+        curves.forEach(consumer);
+    }
+
+    /**
+     * Replaces the curve with the given condition with the given curve.
+     * @param condition The condition to target when replacing.
+     * @param curve The curve to replace the condition with.
+     */
+    public void replace(Function<Double, Boolean> condition, Curve curve) {
+        curves.replace(condition, curve);
+    }
+
+    /**
+     * Adds a new condition and curve to this piecewise curve.
+     * @param condition The condition for the curve.
+     * @param curve The curve to use when the condition is true.
+     */
+    public void put(Function<Double, Boolean> condition, Curve curve) {
+        curves.put(condition, curve);
+    }
+
+    /**
+     * Gets the curve with the given condition.
+     * @param condition The condition to get the curve for.
+     * @return The curve with the given condition.
+     */
+    public Curve get(Function<Double, Boolean> condition) {
+        return curves.get(condition);
+    }
+
+    /**
+     * Removes the curve with the given condition.
+     * @param condition The condition to remove the curve for.
+     */
+    public void remove(Function<Double, Boolean> condition) {
+        curves.remove(condition);
+    }
+
+    /**
+     * Removes all curves from this piecewise curve.
+     */
+    public void clear() {
+        curves.clear();
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/QuadraticCurve.java b/src/main/java/net/frc5183/librobot/math/curve/QuadraticCurve.java
new file mode 100644
index 0000000..075afc8
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/QuadraticCurve.java
@@ -0,0 +1,87 @@
+package net.frc5183.librobot.math.curve;
+
+/**
+ * A {@link Curve} which represents a quadratic equation in the form Ax^2 + Bx + C.
+ */
+public class QuadraticCurve extends Curve {
+    /**
+     * The "A" variable in the curve equation.
+     */
+    private Double a;
+
+    /**
+     * The "B" variable in the curve equation.
+     */
+    private Double b;
+
+    /**
+     * The "C" variable in the curve equation.
+     */
+    private Double c;
+
+    /**
+     * Creates a new {@link QuadraticCurve} with the given A, B, and C values.
+     * @param a The "A" variable in the curve equation.
+     * @param b The "B" variable in the curve equation.
+     * @param c The "C" variable in the curve equation.
+     */
+    public QuadraticCurve(Double a, Double b, Double c) {
+        this.a = a;
+        this.b = b;
+        this.c = c;
+    }
+
+    @Override
+    public Double curve(Double x) {
+        // y = Ax^2 + Bx + C
+        return (a * Math.pow(x, 2)) + (b * x) + c;
+    }
+
+    /**
+     * Returns the "A" variable in the curve equation.
+     * @return The "A" variable in the curve equation.
+     */
+    public Double getA() {
+        return a;
+    }
+
+    /**
+     * Sets the "A" variable in the curve equation.
+     * @param a The new "A" variable in the curve equation.
+     */
+    public void setA(Double a) {
+        this.a = a;
+    }
+
+    /**
+     * Returns the "B" variable in the curve equation.
+     * @return The "B" variable in the curve equation.
+     */
+    public Double getB() {
+        return b;
+    }
+
+    /**
+     * Sets the "B" variable in the curve equation.
+     * @param b The new "B" variable in the curve equation.
+     */
+    public void setB(Double b) {
+        this.b = b;
+    }
+
+    /**
+     * Returns the "C" variable in the curve equation.
+     * @return The "C" variable in the curve equation.
+     */
+    public Double getC() {
+        return c;
+    }
+
+    /**
+     * Sets the "C" variable in the curve equation.
+     * @param c The new "C" variable in the curve equation.
+     */
+    public void setC(Double c) {
+        this.c = c;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java b/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java
new file mode 100644
index 0000000..86a0b2a
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java
@@ -0,0 +1,87 @@
+package net.frc5183.librobot.math.curve;
+
+/**
+ * A {@link Curve} which represents a radical equation in the form y = (x+C)^(1/A)+B.
+ */
+public class RadicalCurve extends Curve {
+    /**
+     * The "A" variable in the curve equation.
+     */
+    private Double a;
+
+    /**
+     * The "B" variable in the curve equation.
+     */
+    private Double b;
+
+    /**
+     * The "C" variable in the curve equation.
+     */
+    private Double c;
+
+    /**
+     * Creates a new {@link RadicalCurve} with the given A, B, and C values.
+     * @param a The "A" variable in the curve equation.
+     * @param b The "B" variable in the curve equation.
+     * @param c The "C" variable in the curve equation.
+     */
+    public RadicalCurve(Double a, Double b, Double c) {
+        this.a = a;
+        this.b = b;
+        this.c = c;
+    }
+
+    @Override
+    public Double curve(Double x) {
+        // y = (x+C)^(1/A)+B
+        return Math.pow(x + c, 1 / a) + b;
+    }
+
+    /**
+     * Returns the "A" variable in the curve equation.
+     * @return The "A" variable in the curve equation.
+     */
+    public Double getA() {
+        return a;
+    }
+
+    /**
+     * Sets the "A" variable in the curve equation.
+     * @param a The new "A" variable in the curve equation.
+     */
+    public void setA(Double a) {
+        this.a = a;
+    }
+
+    /**
+     * Returns the "B" variable in the curve equation.
+     * @return The "B" variable in the curve equation.
+     */
+    public Double getB() {
+        return b;
+    }
+
+    /**
+     * Sets the "B" variable in the curve equation.
+     * @param b The new "B" variable in the curve equation.
+     */
+    public void setB(Double b) {
+        this.b = b;
+    }
+
+    /**
+     * Returns the "C" variable in the curve equation.
+     * @return The "C" variable in the curve equation.
+     */
+    public Double getC() {
+        return c;
+    }
+
+    /**
+     * Sets the "C" variable in the curve equation.
+     * @param c The new "C" variable in the curve equation.
+     */
+    public void setC(Double c) {
+        this.c = c;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java
new file mode 100644
index 0000000..f30b673
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java
@@ -0,0 +1,97 @@
+package net.frc5183.librobot.math.curve;
+
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * A {@link Curve} which toggles between two outputs based on a timer.
+ */
+public abstract class TimedCurve extends Curve {
+    /**
+     * The timer used to keep track of the time.
+     */
+    private final Timer timer = new Timer();
+
+    /**
+     * Whether the curve is currently disabled.
+     */
+    private boolean disabled = true;
+
+    /**
+     * The delay in seconds before the curve is enabled.
+     */
+    private Double delayEnabled;
+
+    /**
+     * The delay in seconds before the curve is disabled.
+     */
+    private Double delayDisabled;
+
+    /**
+     * Creates a new {@link TimedCurve} with the given delays.
+     * @param delayEnabled The delay in seconds before the curve is enabled.
+     * @param delayDisabled The delay in seconds before the curve is disabled.
+     */
+    public TimedCurve(Double delayEnabled, Double delayDisabled) {
+        this.delayEnabled = delayEnabled;
+        this.delayDisabled = delayDisabled;
+    }
+
+    @Override
+    public Double curve(Double x) {
+        if (disabled && timer.hasElapsed(delayDisabled)) {
+            disabled = false;
+            timer.reset();
+        } else if (!disabled && timer.hasElapsed(delayEnabled)) {
+            disabled = true;
+            timer.reset();
+        }
+
+        return disabled ? disabled(x) : enabled(x);
+    }
+
+    /**
+     * Returns the value of the curve when it is enabled.
+     * @param x The x value to evaluate the curve at.
+     * @return The value of the curve when it is enabled.
+     */
+    protected abstract Double enabled(Double x);
+
+    /**
+     * Returns the value of the curve when it is disabled.
+     * @param x The x value to evaluate the curve at.
+     * @return The value of the curve when it is disabled.
+     */
+    protected abstract Double disabled(Double x);
+
+    /**
+     * Returns whether the curve is currently disabled.
+     * @return Whether the curve is currently disabled.
+     */
+    public Double getDelayEnabled() {
+        return delayEnabled;
+    }
+
+    /**
+     * Sets whether the curve is currently disabled.
+     * @param delayEnabled Whether the curve is currently disabled.
+     */
+    public void setDelayEnabled(Double delayEnabled) {
+        this.delayEnabled = delayEnabled;
+    }
+
+    /**
+     * Returns the delay in seconds before the curve is disabled.
+     * @return The delay in seconds before the curve is disabled.
+     */
+    public Double getDelayDisabled() {
+        return delayDisabled;
+    }
+
+    /**
+     * Sets the delay in seconds before the curve is disabled.
+     * @param delayDisabled The delay in seconds before the curve is disabled.
+     */
+    public void setDelayDisabled(Double delayDisabled) {
+        this.delayDisabled = delayDisabled;
+    }
+}
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java
new file mode 100644
index 0000000..09a3cf3
--- /dev/null
+++ b/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java
@@ -0,0 +1,48 @@
+package net.frc5183.librobot.math.curve;
+
+/**
+ * A {@link TimedCurve} that toggles between 0 (when disabled) and curve(x) (when enabled);
+ */
+public class ZeroTimedCurve extends TimedCurve {
+    /**
+     * The curve to use when this curve is enabled.
+     */
+    private Curve curve;
+
+    /**
+     * Creates a new {@link ZeroTimedCurve} with the given curve and delays.
+     * @param curve The curve to use when this curve is enabled.
+     * @param delayEnabled The delay in seconds before the curve is enabled.
+     * @param delayDisabled The delay in seconds before the curve is disabled.
+     */
+    public ZeroTimedCurve(Curve curve, Double delayEnabled, Double delayDisabled) {
+        super(delayEnabled, delayDisabled);
+        this.curve = curve;
+    }
+
+    @Override
+    protected Double enabled(Double x) {
+        return curve.curve(x);
+    }
+
+    @Override
+    protected Double disabled(Double x) {
+        return 0.0;
+    }
+
+    /**
+     * Returns the curve to use when this curve is enabled.
+     * @return The curve to use when this curve is enabled.
+     */
+    public Curve getCurve() {
+        return curve;
+    }
+
+    /**
+     * Sets the curve to use when this curve is enabled.
+     * @param curve The new curve to use when the curve is enabled.
+     */
+    public void setCurve(Curve curve) {
+        this.curve = curve;
+    }
+}
\ No newline at end of file

From d23b0880fb1667fac89b6f39682ee939075f995b Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 12:00:26 -0400
Subject: [PATCH 03/11] style(math/curve/exponential): disable PMD check on
 line 26, as parentheses make the equation easier to read.

---
 .../java/net/frc5183/librobot/math/curve/ExponentialCurve.java  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
index a7d362d..4418c96 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
@@ -23,7 +23,7 @@ public Double curve(Double x) {
         if (x == 0) return 0d;
 
         // y = (x/|x|) * ((1 + exaggeration)^|x| - 1) / exaggeration
-        return (x / Math.abs(x)) * ((Math.pow(1 + exaggeration, Math.abs(x))) - 1) / exaggeration;
+        return (x / Math.abs(x)) * ((Math.pow(1 + exaggeration, Math.abs(x))) - 1) / exaggeration; // NOPMD - extra parentheses make the equation easier to read
     }
 
     /**

From a1c367ffd1526f2dab311d6423235127b2eb6d2d Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 12:07:03 -0400
Subject: [PATCH 04/11] refactor(math/curves/exponential): validate input on
 ExponentialCurve.setExaggeration(double)

---
 .../net/frc5183/librobot/math/curve/ExponentialCurve.java     | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
index 4418c96..f99d96f 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
@@ -39,6 +39,10 @@ public double getExaggeration() {
      * @param exaggeration The new exaggeration of the curve.
      */
     public void setExaggeration(double exaggeration) {
+        if (exaggeration <= 0) {
+            throw new IllegalArgumentException("Exaggeration must be greater than 0.");
+        }
+
         this.exaggeration = exaggeration;
     }
 }
\ No newline at end of file

From 0e5a435163aa0c84ed0c78df33a80c9c8e90181c Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 12:10:01 -0400
Subject: [PATCH 05/11] refactor(math/curves): only use Double where necessary,
 otherwise use primitive for null safety

---
 .../frc5183/librobot/math/curve/Curve.java    |  2 +-
 .../librobot/math/curve/DoubleTimedCurve.java |  8 +++----
 .../librobot/math/curve/ExponentialCurve.java |  2 +-
 .../librobot/math/curve/LimitedCurve.java     | 18 +++++++--------
 .../librobot/math/curve/LinearCurve.java      |  2 +-
 .../librobot/math/curve/NormalTimedCurve.java |  6 ++---
 .../librobot/math/curve/PiecewiseCurve.java   |  2 +-
 .../librobot/math/curve/QuadraticCurve.java   | 22 +++++++++----------
 .../librobot/math/curve/RadicalCurve.java     | 22 +++++++++----------
 .../librobot/math/curve/TimedCurve.java       | 20 ++++++++---------
 .../librobot/math/curve/ZeroTimedCurve.java   |  6 ++---
 11 files changed, 55 insertions(+), 55 deletions(-)

diff --git a/src/main/java/net/frc5183/librobot/math/curve/Curve.java b/src/main/java/net/frc5183/librobot/math/curve/Curve.java
index 4e0130e..378272f 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/Curve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/Curve.java
@@ -9,5 +9,5 @@ public abstract class Curve {
      * @param x The x value to evaluate the curve at.
      * @return The value of the curve at the given x value.
      */
-    public abstract Double curve(Double x);
+    public abstract double curve(double x);
 }
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java
index 5d50753..428dcde 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java
@@ -20,21 +20,21 @@ public class DoubleTimedCurve extends TimedCurve {
      * @param disabledCurve The curve to use when this curve is disabled.
      * @param delayEnabled The delay in seconds before the curve is enabled.
      * @param delayDisabled The delay in seconds before the curve is disabled.
-     * @see TimedCurve#TimedCurve(Double, Double)
+     * @see TimedCurve#TimedCurve(double, double)
      */
-    public DoubleTimedCurve(Curve enabledCurve, Curve disabledCurve, Double delayEnabled, Double delayDisabled) {
+    public DoubleTimedCurve(Curve enabledCurve, Curve disabledCurve, double delayEnabled, double delayDisabled) {
         super(delayEnabled, delayDisabled);
         this.enabledCurve = enabledCurve;
         this.disabledCurve = disabledCurve;
     }
 
     @Override
-    protected Double enabled(Double x) {
+    protected double enabled(double x) {
         return enabledCurve.curve(x);
     }
 
     @Override
-    protected Double disabled(Double x) {
+    protected double disabled(double x) {
         return disabledCurve.curve(x);
     }
 
diff --git a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
index f99d96f..ee80f46 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
@@ -19,7 +19,7 @@ public ExponentialCurve(double exaggeration) {
     }
 
     @Override
-    public Double curve(Double x) {
+    public double curve(double x) {
         if (x == 0) return 0d;
 
         // y = (x/|x|) * ((1 + exaggeration)^|x| - 1) / exaggeration
diff --git a/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
index 66534ce..060d31c 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
@@ -12,12 +12,12 @@ public class LimitedCurve extends Curve {
     /**
      * The minimum value of the curve.
      */
-    private Double min;
+    private double min;
 
     /**
      * The maximum value of the curve.
      */
-    private Double max;
+    private double max;
 
     /**
      * Creates a new {@link LimitedCurve} with the given curve, minimum, and maximum values.
@@ -25,15 +25,15 @@ public class LimitedCurve extends Curve {
      * @param min The minimum value of the curve.
      * @param max The maximum value of the curve.
      */
-    public LimitedCurve(Curve curve, Double min, Double max) {
+    public LimitedCurve(Curve curve, double min, double max) {
         this.curve = curve;
         this.min = min;
         this.max = max;
     }
 
     @Override
-    public Double curve(Double x) {
-        Double y = curve.curve(x);
+    public double curve(double x) {
+        double y = curve.curve(x);
         return Math.min(Math.max(y, min), max);
     }
 
@@ -57,7 +57,7 @@ public void setCurve(Curve curve) {
      * Returns the minimum value of the curve.
      * @return The minimum value of the curve.
      */
-    public Double getMin() {
+    public double getMin() {
         return min;
     }
 
@@ -65,7 +65,7 @@ public Double getMin() {
      * Sets the minimum value of the curve.
      * @param min The new minimum value of the curve.
      */
-    public void setMin(Double min) {
+    public void setMin(double min) {
         this.min = min;
     }
 
@@ -73,7 +73,7 @@ public void setMin(Double min) {
      * Returns the maximum value of the curve.
      * @return The maximum value of the curve.
      */
-    public Double getMax() {
+    public double getMax() {
         return max;
     }
 
@@ -81,7 +81,7 @@ public Double getMax() {
      * Sets the maximum value of the curve.
      * @param max The new maximum value of the curve.
      */
-    public void setMax(Double max) {
+    public void setMax(double max) {
         this.max = max;
     }
 }
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/LinearCurve.java b/src/main/java/net/frc5183/librobot/math/curve/LinearCurve.java
index 8f96bec..8974f8c 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/LinearCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/LinearCurve.java
@@ -25,7 +25,7 @@ public LinearCurve(double slope, double yIntercept) {
     }
 
     @Override
-    public Double curve(Double x) {
+    public double curve(double x) {
         // y = mx + b
         return slope * x + yIntercept;
     }
diff --git a/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java
index d3fb978..255c246 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java
@@ -15,18 +15,18 @@ public class NormalTimedCurve extends TimedCurve {
      * @param delayEnabled The delay in seconds before the curve is enabled.
      * @param delayDisabled The delay in seconds before the curve is disabled.
      */
-    public NormalTimedCurve(Curve curve, Double delayEnabled, Double delayDisabled) {
+    public NormalTimedCurve(Curve curve, double delayEnabled, double delayDisabled) {
         super(delayEnabled, delayDisabled);
         this.curve = curve;
     }
 
     @Override
-    protected Double enabled(Double x) {
+    protected double enabled(double x) {
         return curve(x);
     }
 
     @Override
-    protected Double disabled(Double x) {
+    protected double disabled(double x) {
         return x;
     }
 
diff --git a/src/main/java/net/frc5183/librobot/math/curve/PiecewiseCurve.java b/src/main/java/net/frc5183/librobot/math/curve/PiecewiseCurve.java
index b27c9af..18bd4b1 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/PiecewiseCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/PiecewiseCurve.java
@@ -50,7 +50,7 @@ public PiecewiseCurve(Map<Function<Double, Boolean>, Curve> curves) {
     }
 
     @Override
-    public Double curve(Double x) {
+    public double curve(double x) {
         for (Map.Entry<Function<Double, Boolean>, Curve> entry : curves.entrySet()) {
             if (entry.getKey().apply(x)) {
                 return entry.getValue().curve(x);
diff --git a/src/main/java/net/frc5183/librobot/math/curve/QuadraticCurve.java b/src/main/java/net/frc5183/librobot/math/curve/QuadraticCurve.java
index 075afc8..e17fbfe 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/QuadraticCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/QuadraticCurve.java
@@ -7,17 +7,17 @@ public class QuadraticCurve extends Curve {
     /**
      * The "A" variable in the curve equation.
      */
-    private Double a;
+    private double a;
 
     /**
      * The "B" variable in the curve equation.
      */
-    private Double b;
+    private double b;
 
     /**
      * The "C" variable in the curve equation.
      */
-    private Double c;
+    private double c;
 
     /**
      * Creates a new {@link QuadraticCurve} with the given A, B, and C values.
@@ -25,14 +25,14 @@ public class QuadraticCurve extends Curve {
      * @param b The "B" variable in the curve equation.
      * @param c The "C" variable in the curve equation.
      */
-    public QuadraticCurve(Double a, Double b, Double c) {
+    public QuadraticCurve(double a, double b, double c) {
         this.a = a;
         this.b = b;
         this.c = c;
     }
 
     @Override
-    public Double curve(Double x) {
+    public double curve(double x) {
         // y = Ax^2 + Bx + C
         return (a * Math.pow(x, 2)) + (b * x) + c;
     }
@@ -41,7 +41,7 @@ public Double curve(Double x) {
      * Returns the "A" variable in the curve equation.
      * @return The "A" variable in the curve equation.
      */
-    public Double getA() {
+    public double getA() {
         return a;
     }
 
@@ -49,7 +49,7 @@ public Double getA() {
      * Sets the "A" variable in the curve equation.
      * @param a The new "A" variable in the curve equation.
      */
-    public void setA(Double a) {
+    public void setA(double a) {
         this.a = a;
     }
 
@@ -57,7 +57,7 @@ public void setA(Double a) {
      * Returns the "B" variable in the curve equation.
      * @return The "B" variable in the curve equation.
      */
-    public Double getB() {
+    public double getB() {
         return b;
     }
 
@@ -65,7 +65,7 @@ public Double getB() {
      * Sets the "B" variable in the curve equation.
      * @param b The new "B" variable in the curve equation.
      */
-    public void setB(Double b) {
+    public void setB(double b) {
         this.b = b;
     }
 
@@ -73,7 +73,7 @@ public void setB(Double b) {
      * Returns the "C" variable in the curve equation.
      * @return The "C" variable in the curve equation.
      */
-    public Double getC() {
+    public double getC() {
         return c;
     }
 
@@ -81,7 +81,7 @@ public Double getC() {
      * Sets the "C" variable in the curve equation.
      * @param c The new "C" variable in the curve equation.
      */
-    public void setC(Double c) {
+    public void setC(double c) {
         this.c = c;
     }
 }
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java b/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java
index 86a0b2a..a0316ac 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java
@@ -7,17 +7,17 @@ public class RadicalCurve extends Curve {
     /**
      * The "A" variable in the curve equation.
      */
-    private Double a;
+    private double a;
 
     /**
      * The "B" variable in the curve equation.
      */
-    private Double b;
+    private double b;
 
     /**
      * The "C" variable in the curve equation.
      */
-    private Double c;
+    private double c;
 
     /**
      * Creates a new {@link RadicalCurve} with the given A, B, and C values.
@@ -25,14 +25,14 @@ public class RadicalCurve extends Curve {
      * @param b The "B" variable in the curve equation.
      * @param c The "C" variable in the curve equation.
      */
-    public RadicalCurve(Double a, Double b, Double c) {
+    public RadicalCurve(double a, double b, double c) {
         this.a = a;
         this.b = b;
         this.c = c;
     }
 
     @Override
-    public Double curve(Double x) {
+    public double curve(double x) {
         // y = (x+C)^(1/A)+B
         return Math.pow(x + c, 1 / a) + b;
     }
@@ -41,7 +41,7 @@ public Double curve(Double x) {
      * Returns the "A" variable in the curve equation.
      * @return The "A" variable in the curve equation.
      */
-    public Double getA() {
+    public double getA() {
         return a;
     }
 
@@ -49,7 +49,7 @@ public Double getA() {
      * Sets the "A" variable in the curve equation.
      * @param a The new "A" variable in the curve equation.
      */
-    public void setA(Double a) {
+    public void setA(double a) {
         this.a = a;
     }
 
@@ -57,7 +57,7 @@ public void setA(Double a) {
      * Returns the "B" variable in the curve equation.
      * @return The "B" variable in the curve equation.
      */
-    public Double getB() {
+    public double getB() {
         return b;
     }
 
@@ -65,7 +65,7 @@ public Double getB() {
      * Sets the "B" variable in the curve equation.
      * @param b The new "B" variable in the curve equation.
      */
-    public void setB(Double b) {
+    public void setB(double b) {
         this.b = b;
     }
 
@@ -73,7 +73,7 @@ public void setB(Double b) {
      * Returns the "C" variable in the curve equation.
      * @return The "C" variable in the curve equation.
      */
-    public Double getC() {
+    public double getC() {
         return c;
     }
 
@@ -81,7 +81,7 @@ public Double getC() {
      * Sets the "C" variable in the curve equation.
      * @param c The new "C" variable in the curve equation.
      */
-    public void setC(Double c) {
+    public void setC(double c) {
         this.c = c;
     }
 }
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java
index f30b673..d2fe83c 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java
@@ -19,25 +19,25 @@ public abstract class TimedCurve extends Curve {
     /**
      * The delay in seconds before the curve is enabled.
      */
-    private Double delayEnabled;
+    private double delayEnabled;
 
     /**
      * The delay in seconds before the curve is disabled.
      */
-    private Double delayDisabled;
+    private double delayDisabled;
 
     /**
      * Creates a new {@link TimedCurve} with the given delays.
      * @param delayEnabled The delay in seconds before the curve is enabled.
      * @param delayDisabled The delay in seconds before the curve is disabled.
      */
-    public TimedCurve(Double delayEnabled, Double delayDisabled) {
+    public TimedCurve(double delayEnabled, double delayDisabled) {
         this.delayEnabled = delayEnabled;
         this.delayDisabled = delayDisabled;
     }
 
     @Override
-    public Double curve(Double x) {
+    public double curve(double x) {
         if (disabled && timer.hasElapsed(delayDisabled)) {
             disabled = false;
             timer.reset();
@@ -54,20 +54,20 @@ public Double curve(Double x) {
      * @param x The x value to evaluate the curve at.
      * @return The value of the curve when it is enabled.
      */
-    protected abstract Double enabled(Double x);
+    protected abstract double enabled(double x);
 
     /**
      * Returns the value of the curve when it is disabled.
      * @param x The x value to evaluate the curve at.
      * @return The value of the curve when it is disabled.
      */
-    protected abstract Double disabled(Double x);
+    protected abstract double disabled(double x);
 
     /**
      * Returns whether the curve is currently disabled.
      * @return Whether the curve is currently disabled.
      */
-    public Double getDelayEnabled() {
+    public double getDelayEnabled() {
         return delayEnabled;
     }
 
@@ -75,7 +75,7 @@ public Double getDelayEnabled() {
      * Sets whether the curve is currently disabled.
      * @param delayEnabled Whether the curve is currently disabled.
      */
-    public void setDelayEnabled(Double delayEnabled) {
+    public void setDelayEnabled(double delayEnabled) {
         this.delayEnabled = delayEnabled;
     }
 
@@ -83,7 +83,7 @@ public void setDelayEnabled(Double delayEnabled) {
      * Returns the delay in seconds before the curve is disabled.
      * @return The delay in seconds before the curve is disabled.
      */
-    public Double getDelayDisabled() {
+    public double getDelayDisabled() {
         return delayDisabled;
     }
 
@@ -91,7 +91,7 @@ public Double getDelayDisabled() {
      * Sets the delay in seconds before the curve is disabled.
      * @param delayDisabled The delay in seconds before the curve is disabled.
      */
-    public void setDelayDisabled(Double delayDisabled) {
+    public void setDelayDisabled(double delayDisabled) {
         this.delayDisabled = delayDisabled;
     }
 }
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java
index 09a3cf3..8bf7b3b 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java
@@ -15,18 +15,18 @@ public class ZeroTimedCurve extends TimedCurve {
      * @param delayEnabled The delay in seconds before the curve is enabled.
      * @param delayDisabled The delay in seconds before the curve is disabled.
      */
-    public ZeroTimedCurve(Curve curve, Double delayEnabled, Double delayDisabled) {
+    public ZeroTimedCurve(Curve curve, double delayEnabled, double delayDisabled) {
         super(delayEnabled, delayDisabled);
         this.curve = curve;
     }
 
     @Override
-    protected Double enabled(Double x) {
+    protected double enabled(double x) {
         return curve.curve(x);
     }
 
     @Override
-    protected Double disabled(Double x) {
+    protected double disabled(double x) {
         return 0.0;
     }
 

From 93589483014848146051711cfb30f5ef8641c054 Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 12:11:50 -0400
Subject: [PATCH 06/11] refactor(math/curves/exponential): also add
 exaggeration check to constructor of ExponentialCurve

---
 .../net/frc5183/librobot/math/curve/ExponentialCurve.java     | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
index ee80f46..28a61d3 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
@@ -15,6 +15,10 @@ public class ExponentialCurve extends Curve {
      * @param exaggeration The exaggeration of the curve.
      */
     public ExponentialCurve(double exaggeration) {
+        if (exaggeration <= 0) {
+            throw new IllegalArgumentException("Exaggeration must be greater than 0.");
+        }
+
         this.exaggeration = exaggeration;
     }
 

From a5f77d8733b65b06d1ed219382f364451cca547a Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 12:15:45 -0400
Subject: [PATCH 07/11] docs(math/curves/exponential): add proper documentation
 for the checks added in previous commits

---
 .../java/net/frc5183/librobot/math/curve/ExponentialCurve.java  | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
index 28a61d3..4b9e8af 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/ExponentialCurve.java
@@ -13,6 +13,7 @@ public class ExponentialCurve extends Curve {
     /**
      * Creates a new {@link ExponentialCurve} with the given exaggeration.
      * @param exaggeration The exaggeration of the curve.
+     * @throws IllegalArgumentException If the exaggeration is less than or equal to 0.
      */
     public ExponentialCurve(double exaggeration) {
         if (exaggeration <= 0) {
@@ -41,6 +42,7 @@ public double getExaggeration() {
     /**
      * Sets the exaggeration of the curve.
      * @param exaggeration The new exaggeration of the curve.
+     * @throws IllegalArgumentException If the exaggeration is less than or equal to 0.
      */
     public void setExaggeration(double exaggeration) {
         if (exaggeration <= 0) {

From 0528588ed5ebfa514dd03544d755dfca6eb27130 Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 12:18:58 -0400
Subject: [PATCH 08/11] refactor(math/curve): add NotNull annotations where
 applicable

---
 .../librobot/math/curve/DoubleTimedCurve.java      | 14 +++++++++-----
 .../frc5183/librobot/math/curve/LimitedCurve.java  |  9 ++++++---
 .../librobot/math/curve/NormalTimedCurve.java      |  8 ++++++--
 .../librobot/math/curve/ZeroTimedCurve.java        |  8 ++++++--
 4 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java
index 428dcde..bcb95fd 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/DoubleTimedCurve.java
@@ -1,5 +1,7 @@
 package net.frc5183.librobot.math.curve;
 
+import org.jetbrains.annotations.NotNull;
+
 /**
  * A {@link TimedCurve} that toggles between two curves.
  */
@@ -7,11 +9,13 @@ public class DoubleTimedCurve extends TimedCurve {
     /**
      * The curve to use when the curve is enabled.
      */
+    @NotNull
     private Curve enabledCurve;
 
     /**
      * The curve to use when the curve is disabled.
      */
+    @NotNull
     private Curve disabledCurve;
 
     /**
@@ -22,7 +26,7 @@ public class DoubleTimedCurve extends TimedCurve {
      * @param delayDisabled The delay in seconds before the curve is disabled.
      * @see TimedCurve#TimedCurve(double, double)
      */
-    public DoubleTimedCurve(Curve enabledCurve, Curve disabledCurve, double delayEnabled, double delayDisabled) {
+    public DoubleTimedCurve(@NotNull Curve enabledCurve, @NotNull Curve disabledCurve, double delayEnabled, double delayDisabled) {
         super(delayEnabled, delayDisabled);
         this.enabledCurve = enabledCurve;
         this.disabledCurve = disabledCurve;
@@ -42,7 +46,7 @@ protected double disabled(double x) {
      * Returns the curve to use when this curve is enabled.
      * @return The curve to use when this curve is enabled.
      */
-    public Curve getEnabledCurve() {
+    public @NotNull Curve getEnabledCurve() {
         return enabledCurve;
     }
 
@@ -50,7 +54,7 @@ public Curve getEnabledCurve() {
      * Sets the curve to use when this curve is enabled.
      * @param enabledCurve The new curve to use when the curve is enabled.
      */
-    public void setEnabledCurve(Curve enabledCurve) {
+    public void setEnabledCurve(@NotNull Curve enabledCurve) {
         this.enabledCurve = enabledCurve;
     }
 
@@ -58,7 +62,7 @@ public void setEnabledCurve(Curve enabledCurve) {
      * Returns the curve to use when this curve is disabled.
      * @return The curve to use when this curve is disabled.
      */
-    public Curve getDisabledCurve() {
+    public @NotNull Curve getDisabledCurve() {
         return disabledCurve;
     }
 
@@ -66,7 +70,7 @@ public Curve getDisabledCurve() {
      * Sets the curve to use when this curve is disabled.
      * @param disabledCurve The new curve to use when the curve is disabled.
      */
-    public void setDisabledCurve(Curve disabledCurve) {
+    public void setDisabledCurve(@NotNull Curve disabledCurve) {
         this.disabledCurve = disabledCurve;
     }
 }
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
index 060d31c..d356f90 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
@@ -1,5 +1,7 @@
 package net.frc5183.librobot.math.curve;
 
+import org.jetbrains.annotations.NotNull;
+
 /**
  * A {@link Curve} which limits the output of another curve to a certain range.
  */
@@ -7,6 +9,7 @@ public class LimitedCurve extends Curve {
     /**
      * The curve to limit.
      */
+    @NotNull
     private Curve curve;
 
     /**
@@ -25,7 +28,7 @@ public class LimitedCurve extends Curve {
      * @param min The minimum value of the curve.
      * @param max The maximum value of the curve.
      */
-    public LimitedCurve(Curve curve, double min, double max) {
+    public LimitedCurve(@NotNull Curve curve, double min, double max) {
         this.curve = curve;
         this.min = min;
         this.max = max;
@@ -41,7 +44,7 @@ public double curve(double x) {
      * Returns the curve to limit.
      * @return The curve to limit.
      */
-    public Curve getCurve() {
+    public @NotNull Curve getCurve() {
         return curve;
     }
 
@@ -49,7 +52,7 @@ public Curve getCurve() {
      * Sets the curve to limit.
      * @param curve The new curve to limit.
      */
-    public void setCurve(Curve curve) {
+    public void setCurve(@NotNull Curve curve) {
         this.curve = curve;
     }
 
diff --git a/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java
index 255c246..6df3ece 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/NormalTimedCurve.java
@@ -1,5 +1,7 @@
 package net.frc5183.librobot.math.curve;
 
+import org.jetbrains.annotations.NotNull;
+
 /**
  * A @{link TimedCurve} that toggles between x (when disabled) and curve(x) (when enabled).
  */
@@ -7,6 +9,7 @@ public class NormalTimedCurve extends TimedCurve {
     /**
      * The curve to use when this curve is enabled.
      */
+    @NotNull
     private Curve curve;
 
     /**
@@ -15,7 +18,7 @@ public class NormalTimedCurve extends TimedCurve {
      * @param delayEnabled The delay in seconds before the curve is enabled.
      * @param delayDisabled The delay in seconds before the curve is disabled.
      */
-    public NormalTimedCurve(Curve curve, double delayEnabled, double delayDisabled) {
+    public NormalTimedCurve(@NotNull Curve curve, double delayEnabled, double delayDisabled) {
         super(delayEnabled, delayDisabled);
         this.curve = curve;
     }
@@ -34,6 +37,7 @@ protected double disabled(double x) {
      * Returns the curve to use when this curve is enabled.
      * @return The curve to use when this curve is enabled.
      */
+    @NotNull
     public Curve getCurve() {
         return curve;
     }
@@ -42,7 +46,7 @@ public Curve getCurve() {
      * Sets the curve to use when this curve is enabled.
      * @param curve The new curve to use when the curve is enabled.
      */
-    public void setCurve(Curve curve) {
+    public void setCurve(@NotNull Curve curve) {
         this.curve = curve;
     }
 }
\ No newline at end of file
diff --git a/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java
index 8bf7b3b..6900ac6 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/ZeroTimedCurve.java
@@ -1,5 +1,7 @@
 package net.frc5183.librobot.math.curve;
 
+import org.jetbrains.annotations.NotNull;
+
 /**
  * A {@link TimedCurve} that toggles between 0 (when disabled) and curve(x) (when enabled);
  */
@@ -7,6 +9,7 @@ public class ZeroTimedCurve extends TimedCurve {
     /**
      * The curve to use when this curve is enabled.
      */
+    @NotNull
     private Curve curve;
 
     /**
@@ -15,7 +18,7 @@ public class ZeroTimedCurve extends TimedCurve {
      * @param delayEnabled The delay in seconds before the curve is enabled.
      * @param delayDisabled The delay in seconds before the curve is disabled.
      */
-    public ZeroTimedCurve(Curve curve, double delayEnabled, double delayDisabled) {
+    public ZeroTimedCurve(@NotNull Curve curve, double delayEnabled, double delayDisabled) {
         super(delayEnabled, delayDisabled);
         this.curve = curve;
     }
@@ -34,6 +37,7 @@ protected double disabled(double x) {
      * Returns the curve to use when this curve is enabled.
      * @return The curve to use when this curve is enabled.
      */
+    @NotNull
     public Curve getCurve() {
         return curve;
     }
@@ -42,7 +46,7 @@ public Curve getCurve() {
      * Sets the curve to use when this curve is enabled.
      * @param curve The new curve to use when the curve is enabled.
      */
-    public void setCurve(Curve curve) {
+    public void setCurve(@NotNull Curve curve) {
         this.curve = curve;
     }
 }
\ No newline at end of file

From 16883ce4ca80a8ce1a810169c1d199a376ebe0bb Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 12:21:23 -0400
Subject: [PATCH 09/11] docs(math/curve/timed): fix documentation on
 TimedCurve.getDelayEnabled and TimedCurve.setDelayEnabled

---
 .../java/net/frc5183/librobot/math/curve/TimedCurve.java  | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java
index d2fe83c..9fdceb2 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/TimedCurve.java
@@ -64,16 +64,16 @@ public double curve(double x) {
     protected abstract double disabled(double x);
 
     /**
-     * Returns whether the curve is currently disabled.
-     * @return Whether the curve is currently disabled.
+     * Returns the delay in seconds before the curve is enabled.
+     * @return The delay in seconds before the curve is enabled.
      */
     public double getDelayEnabled() {
         return delayEnabled;
     }
 
     /**
-     * Sets whether the curve is currently disabled.
-     * @param delayEnabled Whether the curve is currently disabled.
+     * Sets the delay in seconds before the curve is enabled.
+     * @param delayEnabled The delay in seconds before the curve is enabled.
      */
     public void setDelayEnabled(double delayEnabled) {
         this.delayEnabled = delayEnabled;

From 046996fcbfacf3c4b5f0be2038c33c2f5e7b3675 Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 12:32:16 -0400
Subject: [PATCH 10/11] refactor(math/curves/limited): validate that minimum is
 not greater than maximum

---
 .../java/net/frc5183/librobot/math/curve/LimitedCurve.java | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java b/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
index d356f90..3df5158 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/LimitedCurve.java
@@ -27,8 +27,11 @@ public class LimitedCurve extends Curve {
      * @param curve The curve to limit.
      * @param min The minimum value of the curve.
      * @param max The maximum value of the curve.
+     * @throws IllegalArgumentException If the minimum value is greater than the maximum value.
      */
     public LimitedCurve(@NotNull Curve curve, double min, double max) {
+        if (min > max) throw new IllegalArgumentException("Minimum value cannot be greater than maximum value.");
+
         this.curve = curve;
         this.min = min;
         this.max = max;
@@ -67,8 +70,10 @@ public double getMin() {
     /**
      * Sets the minimum value of the curve.
      * @param min The new minimum value of the curve.
+     * @throws IllegalArgumentException If the minimum value is greater than the maximum value.
      */
     public void setMin(double min) {
+        if (min > max) throw new IllegalArgumentException("Minimum value cannot be greater than maximum value.");
         this.min = min;
     }
 
@@ -83,8 +88,10 @@ public double getMax() {
     /**
      * Sets the maximum value of the curve.
      * @param max The new maximum value of the curve.
+     * @throws IllegalArgumentException If the minimum value is greater than the maximum value.
      */
     public void setMax(double max) {
+        if (min > max) throw new IllegalArgumentException("Minimum value cannot be greater than maximum value.");
         this.max = max;
     }
 }
\ No newline at end of file

From 20168b9514b6b2100d82edfa140f9d807e1391da Mon Sep 17 00:00:00 2001
From: Bacon <iam@baconi.ng>
Date: Mon, 30 Sep 2024 12:40:50 -0400
Subject: [PATCH 11/11] refactor(math/curves/radical): validate A != 0

---
 .../java/net/frc5183/librobot/math/curve/RadicalCurve.java  | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java b/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java
index a0316ac..6446908 100644
--- a/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java
+++ b/src/main/java/net/frc5183/librobot/math/curve/RadicalCurve.java
@@ -24,8 +24,11 @@ public class RadicalCurve extends Curve {
      * @param a The "A" variable in the curve equation.
      * @param b The "B" variable in the curve equation.
      * @param c The "C" variable in the curve equation.
+     * @throws IllegalArgumentException If A is 0.
      */
     public RadicalCurve(double a, double b, double c) {
+        if (a == 0) throw new IllegalArgumentException("A cannot be 0.");
+
         this.a = a;
         this.b = b;
         this.c = c;
@@ -48,8 +51,11 @@ public double getA() {
     /**
      * Sets the "A" variable in the curve equation.
      * @param a The new "A" variable in the curve equation.
+     * @throws IllegalArgumentException If A is 0.
      */
     public void setA(double a) {
+        if (a == 0) throw new IllegalArgumentException("A cannot be 0.");
+
         this.a = a;
     }