From 4a0ad6b48c604cba7873d91f1966c935a572e153 Mon Sep 17 00:00:00 2001
From: ohowe <ohowe@protonmail.com>
Date: Sat, 10 Dec 2022 00:35:15 -0700
Subject: [PATCH] [wpimath] Rotation2d: Add reference to angleModulus in docs
 (NFC) (#4786)

---
 .../src/main/java/edu/wpi/first/math/geometry/Rotation2d.java  | 3 +++
 wpimath/src/main/native/include/frc/geometry/Rotation2d.h      | 2 ++
 2 files changed, 5 insertions(+)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
index 6caefa5d7b..5be61561e4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -173,6 +173,7 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
    * Returns the radian value of the Rotation2d.
    *
    * @return The radian value of the Rotation2d.
+   * @see edu.wpi.first.math.MathUtil#angleModulus(double) to constrain the angle within (-pi, pi]
    */
   @JsonProperty
   public double getRadians() {
@@ -183,6 +184,8 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
    * Returns the degree value of the Rotation2d.
    *
    * @return The degree value of the Rotation2d.
+   * @see edu.wpi.first.math.MathUtil#inputModulus(double, double, double) to constrain the angle
+   *     within (-180, 180]
    */
   public double getDegrees() {
     return Math.toDegrees(m_value);
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index e40f3facaf..406ef3c15c 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -132,6 +132,7 @@ class WPILIB_DLLEXPORT Rotation2d {
    * Returns the radian value of the rotation.
    *
    * @return The radian value of the rotation.
+   * @see AngleModulus to constrain the angle within (-pi, pi]
    */
   constexpr units::radian_t Radians() const { return m_value; }
 
@@ -139,6 +140,7 @@ class WPILIB_DLLEXPORT Rotation2d {
    * Returns the degree value of the rotation.
    *
    * @return The degree value of the rotation.
+   * @see InputModulus to constrain the angle within (-180, 180]
    */
   constexpr units::degree_t Degrees() const { return m_value; }