hal

  @Override
  @SuppressWarnings("ParameterName")
  public Rotation2d interpolate(Rotation2d endValue, double t) {
    return new Rotation2d(MathUtil.interpolate(this.getRadians(), endValue.getRadians(), t));
  }

For two angles at the edge of the (-pi, pi) range (e.g., -5/4pi and 5/4pi), this code will interpolate the long way around. The Rotation2d functions like plus(), minus()

All examples seems to put all code in the main() function, and demonstrate some static condition happening once. However, this does not reflect any real use cases, and I struggle really hard to implement anything actually useful using the HAL (unless of course I would put all logic into the main() function). There should be some examples which shows actual useful use-cases, and not just PoCs.

Documentation is sorely lacking right now. It would be great to have a more useful README.