[wpimath] FromFieldRelativeSpeeds: Add ChassisSpeeds overload (#4494)

wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java

@@ -68,6 +68,27 @@ public class ChassisSpeeds {
         omegaRadiansPerSecond);
   }
 
+  /**
+   * Converts a user provided field-relative ChassisSpeeds object into a robot-relative
+   * ChassisSpeeds object.
+   *
+   * @param fieldRelativeSpeeds The ChassisSpeeds object representing the speeds in the field frame
+   *     of reference. Positive x is away from your alliance wall. Positive y is to your left when
+   *     standing behind the alliance wall.
+   * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's angle is
+   *     considered to be zero when it is facing directly away from your alliance station wall.
+   *     Remember that this should be CCW positive.
+   * @return ChassisSpeeds object representing the speeds in the robot's frame of reference.
+   */
+  public static ChassisSpeeds fromFieldRelativeSpeeds(
+      ChassisSpeeds fieldRelativeSpeeds, Rotation2d robotAngle) {
+    return fromFieldRelativeSpeeds(
+        fieldRelativeSpeeds.vxMetersPerSecond,
+        fieldRelativeSpeeds.vyMetersPerSecond,
+        fieldRelativeSpeeds.omegaRadiansPerSecond,
+        robotAngle);
+  }
+
   @Override
   public String toString() {
     return String.format(