From a3881bb4527c8e2f8bfd23431e4eacaa4e00f2e5 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Fri, 3 Jul 2020 21:58:19 -0700
Subject: [PATCH] [wpilibc] Add implicit conversion from degree_t to Rotation2d
 (#2564)

There's already an implicit conversion for radian_t, but there's no
implicit conversion from degree_t to radian_t.
---
 wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp      | 5 +++++
 .../src/main/native/include/frc/geometry/Rotation2d.h    | 9 ++++++++-
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp b/wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp
index 29dfe624f2..13a57d89f8 100644
--- a/wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp
+++ b/wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp
@@ -19,6 +19,11 @@ Rotation2d::Rotation2d(units::radian_t value)
       m_cos(units::math::cos(value)),
       m_sin(units::math::sin(value)) {}
 
+Rotation2d::Rotation2d(units::degree_t value)
+    : m_value(value),
+      m_cos(units::math::cos(value)),
+      m_sin(units::math::sin(value)) {}
+
 Rotation2d::Rotation2d(double x, double y) {
   const auto magnitude = std::hypot(x, y);
   if (magnitude > 1e-6) {
diff --git a/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h b/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h
index 1007a52e08..92cf431d03 100644
--- a/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h
@@ -33,6 +33,13 @@ class Rotation2d {
    */
   Rotation2d(units::radian_t value);  // NOLINT(runtime/explicit)
 
+  /**
+   * Constructs a Rotation2d with the given degree value.
+   *
+   * @param value The value of the angle in degrees.
+   */
+  Rotation2d(units::degree_t value);  // NOLINT(runtime/explicit)
+
   /**
    * Constructs a Rotation2d with the given x and y (cosine and sine)
    * components. The x and y don't have to be normalized.
@@ -174,7 +181,7 @@ class Rotation2d {
   double Tan() const { return m_sin / m_cos; }
 
  private:
-  units::radian_t m_value = 0_deg;
+  units::radian_t m_value = 0_rad;
   double m_cos = 1;
   double m_sin = 0;
 };