[wpimath] Don't clamp Rotation2d interpolation (#8661)

calcmogul · web-flow · commit 71cd4346990c · 2026-03-07T15:58:48.000-08:00
Extrapolation is also valid.
diff --git 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 int hashCode() {
 
   @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. */

Original file line number	Diff line number	Diff line change
`@@ -374,7 +374,7 @@ public int hashCode() {`
`374`	`374`
`375`	`375`	`@Override`
`376`	`376`	`public Rotation2d interpolate(Rotation2d endValue, double t) {`
`377`		`- return plus(endValue.minus(this).times(Math.clamp(t, 0, 1)));`
	`377`	`+ return plus(endValue.minus(this).times(t));`
`378`	`378`	`}`
`379`	`379`
`380`	`380`	`/** Rotation2d protobuf for serialization. */`