Revert "Examples yay (#21)"

This reverts commit 47b4f19.

Author: Ishan1522

src/main/java/frc/robot/BuildConstants.java

@@ -6,11 +6,11 @@ public final class BuildConstants {
   public static final String MAVEN_NAME = "4829-BaseRobotCode";
   public static final String VERSION = "unspecified";
   public static final int GIT_REVISION = 15;
-  public static final String GIT_SHA = "9b2d52efc94f51550c86781dc4d51112afc44b13";
-  public static final String GIT_DATE = "2024-12-16 17:53:23 EST";
-  public static final String GIT_BRANCH = "ExamplesYay";
-  public static final String BUILD_DATE = "2024-12-18 17:41:48 EST";
-  public static final long BUILD_UNIX_TIME = 1734561708416L;
+  public static final String GIT_SHA = "f6cf5383d95d1116029cbb69e2db020295f5c2bf";
+  public static final String GIT_DATE = "2024-11-09 19:29:39 EST";
+  public static final String GIT_BRANCH = "actual-unit-tests";
+  public static final String BUILD_DATE = "2024-11-09 19:50:39 EST";
+  public static final long BUILD_UNIX_TIME = 1731199839115L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/frc/robot/commands/intake/Outtake.java

@@ -43,6 +43,18 @@ public static double modifyAxis(DoubleSupplier supplierValue, int exponent) {
     return value;
   }
 
+  public static double modifyAxisCubed(DoubleSupplier supplierValue) {
+    double value = supplierValue.getAsDouble();
+
+    // Deadband
+    value = JoystickUtil.deadband(value, JoystickConstants.DEADBAND_VALUE);
+
+    // Cube the axis
+    value = Math.copySign(value * value * value, value);
+
+    return value;
+  }
+
   /**
    * Converts the two axis coordinates to polar to get both the angle and radius, so they can work
    * in a double[] list.
@@ -69,4 +81,22 @@ public static double[] modifyAxisPolar(
       Math.copySign(Math.pow(yInput, exponent), yInput)
     };
   }
+
+  public static double[] modifyAxisCubedPolar(DoubleSupplier xJoystick, DoubleSupplier yJoystick) {
+    double xInput =
+        JoystickUtil.deadband(xJoystick.getAsDouble(), JoystickConstants.DEADBAND_VALUE);
+    double yInput = deadband(yJoystick.getAsDouble(), JoystickConstants.DEADBAND_VALUE);
+    if (Math.abs(xInput) > 0 && Math.abs(yInput) > 0) {
+      double theta = Math.atan(xInput / yInput);
+      double hypotenuse = Math.sqrt(xInput * xInput + yInput * yInput);
+      double cubedHypotenuse = Math.pow(hypotenuse, 3);
+      xInput = Math.copySign(Math.sin(theta) * cubedHypotenuse, xInput);
+      yInput = Math.copySign(Math.cos(theta) * cubedHypotenuse, yInput);
+      return new double[] {xInput, yInput};
+    }
+    return new double[] {
+      Math.copySign(xInput * xInput * xInput, xInput),
+      Math.copySign(yInput * yInput * yInput, yInput)
+    };
+  }
 }

src/main/java/frc/robot/commands/intake/RegularIntake.java

@@ -1,15 +1,14 @@
 package frc.robot.extras.util;
 
 import edu.wpi.first.math.geometry.Rotation3d;
-import frc.robot.BuildConstants;
 import java.util.Random;
 
 public class MathUtil {
   /**
    * random object that generates random variables the seed is the hash of GIT_SHA this way when you
    * do log-replay even the generated random numbers are the same
    */
-  private static final Random random = new Random(BuildConstants.GIT_SHA.hashCode());
+  private static final Random random = new Random((long) Math.random());
 
   public static double linearInterpretationWithBounding(
       double x1, double y1, double x2, double y2, double x) {