Avoid rotation2d is 0 warning.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Dec 20, 2024 · 61ccea3 · 61ccea3
1 parent 89ce82d
commit 61ccea3
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/main/java/swervelib/math/SwerveMath.java b/src/main/java/swervelib/math/SwerveMath.java
@@ -399,6 +399,10 @@ public static void antiJitter(SwerveModuleState moduleState, SwerveModuleState l
    */
   public static Translation2d cubeTranslation(Translation2d translation)
   {
+    if (Math.hypot(translation.getX(), translation.getY()) <= 1.0E-6)
+    {
+      return translation;
+    }
     return new Translation2d(Math.pow(translation.getNorm(), 3), translation.getAngle());
   }