Updated to 2024.4.8.8

swervelib/math/SwerveMath.java

@@ -410,4 +410,27 @@ public class SwerveMath
       moduleState.angle = lastModuleState.angle;
     }
   }
+
+  /**
+   * Cube the {@link Translation2d} magnitude given in Polar coordinates.
+   *
+   * @param translation {@link Translation2d} to manipulate.
+   * @return Cubed magnitude from {@link Translation2d}.
+   */
+  public static Translation2d cubeTranslation(Translation2d translation)
+  {
+    return new Translation2d(Math.pow(translation.getNorm(), 3), translation.getAngle());
+  }
+
+  /**
+   * Scale the {@link Translation2d} Polar coordinate magnitude.
+   *
+   * @param translation {@link Translation2d} to use.
+   * @param scalar      Multiplier for the Polar coordinate magnitude to use.
+   * @return {@link Translation2d} scaled by given magnitude scalar.
+   */
+  public static Translation2d scaleTranslation(Translation2d translation, double scalar)
+  {
+    return new Translation2d(translation.getNorm() * scalar, translation.getAngle());
+  }
 }