From 71cd4346990c4d1c837af058af094c28c31123eb Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 7 Mar 2026 15:58:48 -0800
Subject: [PATCH] [wpimath] Don't clamp Rotation2d interpolation (#8661)

Extrapolation is also valid.
---
 wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
index 6a3bdd1c90..5ffcd01ecc 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
@@ -374,7 +374,7 @@ public class Rotation2d
 
   @Override
   public Rotation2d interpolate(Rotation2d endValue, double t) {
-    return plus(endValue.minus(this).times(Math.clamp(t, 0, 1)));
+    return plus(endValue.minus(this).times(t));
   }
 
   /** Rotation2d protobuf for serialization. */