From dae18308c9aecc041cebb5dc45e32fc508842e9b Mon Sep 17 00:00:00 2001
From: shueja-personal <32416547+shueja-personal@users.noreply.github.com>
Date: Sun, 27 Feb 2022 16:56:56 -0800
Subject: [PATCH] [wpimath] Minor fixes to Rotation2d docs (NFC) (#4055)

Fixed incorrect examples on .plus(), and a missing word.

Make example code snippets closer to actual use.
---
 .../java/edu/wpi/first/math/geometry/Rotation2d.java   |  6 ++++--
 .../src/main/native/include/frc/geometry/Rotation2d.h  | 10 +++++-----
 2 files changed, 9 insertions(+), 7 deletions(-)

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 08e54387dd..8eed76cd18 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
@@ -70,7 +70,8 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
   /**
    * Adds two rotations together, with the result being bounded between -pi and pi.
    *
-   * <p>For example, Rotation2d.fromDegrees(30) + Rotation2d.fromDegrees(60) = Rotation2d{-pi/2}
+   * <p>For example, <code>Rotation2d.fromDegrees(30).plus(Rotation2d.fromDegrees(60))</code> equals
+   * <code>Rotation2d.fromRadians(Math.PI/2.0)</code>
    *
    * @param other The rotation to add.
    * @return The sum of the two rotations.
@@ -82,7 +83,8 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
   /**
    * Subtracts the new rotation from the current rotation and returns the new rotation.
    *
-   * <p>For example, Rotation2d.fromDegrees(10) - Rotation2d.fromDegrees(100) = Rotation2d{-pi/2}
+   * <p>For example, <code>Rotation2d.fromDegrees(10).minus(Rotation2d.fromDegrees(100))</code>
+   * equals <code>Rotation2d.fromRadians(-Math.PI/2.0)</code>
    *
    * @param other The rotation to subtract.
    * @return The difference between the two rotations.
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index 94a17fc0ca..73f32d4d34 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -15,7 +15,7 @@ class json;
 namespace frc {
 
 /**
- * A rotation in a 2d coordinate frame represented a point on the unit circle
+ * A rotation in a 2d coordinate frame represented by a point on the unit circle
  * (cosine and sine).
  */
 class WPILIB_DLLEXPORT Rotation2d {
@@ -52,8 +52,8 @@ class WPILIB_DLLEXPORT Rotation2d {
    * Adds two rotations together, with the result being bounded between -pi and
    * pi.
    *
-   * For example, Rotation2d.FromDegrees(30) + Rotation2d.FromDegrees(60) =
-   * Rotation2d{-pi/2}
+   * For example, <code>Rotation2d{30_deg} + Rotation2d{60_deg}</code> equals
+   * <code>Rotation2d{units::radian_t{wpi::numbers::pi/2.0}}</code>
    *
    * @param other The rotation to add.
    *
@@ -65,8 +65,8 @@ class WPILIB_DLLEXPORT Rotation2d {
    * Subtracts the new rotation from the current rotation and returns the new
    * rotation.
    *
-   * For example, Rotation2d.FromDegrees(10) - Rotation2d.FromDegrees(100) =
-   * Rotation2d{-pi/2}
+   * For example, <code>Rotation2d{10_deg} - Rotation2d{100_deg}</code> equals
+   * <code>Rotation2d{units::radian_t{-wpi::numbers::pi/2.0}}</code>
    *
    * @param other The rotation to subtract.
    *