HELP i don't know what I'm doing

geometry/build.gradle

@@ -8,13 +8,42 @@
 plugins {
     // Apply the java-library plugin for API and implementation separation.
     id 'java-library'
+    id "com.diffplug.spotless" version "6.24.0"
+
 }
 
 repositories {
     // Use Maven Central for resolving dependencies.
     mavenCentral()
 }
 
+spotless {
+// optional: limit format enforcement to just the files changed by this feature branch
+ratchetFrom 'origin/main'
+
+format 'misc', {
+	// define the files to apply `misc` to
+	target '*.gradle', '.gitattributes', '.gitignore'
+
+	// define the steps to apply to those files
+	trimTrailingWhitespace()
+	indentWithTabs() // or spaces. Takes an integer argument if you don't like 4
+	endWithNewline()
+}
+java {
+	// don't need to set target, it is inferred from java
+	// Allow ignoring certain parts in formatting.
+	toggleOffOn()
+	// apply a specific flavor of google-java-format
+	googleJavaFormat('1.19.2').aosp().reflowLongStrings()
+	// fix formatting of type annotations
+	formatAnnotations()
+}
+}
+
+compileJava.dependsOn 'spotlessApply'
+
+
 dependencies {
     // Use JUnit Jupiter for testing.
     testImplementation libs.junit.jupiter
@@ -39,3 +68,24 @@ tasks.named('test') {
     // Use JUnit Platform for unit tests.
     useJUnitPlatform()
 }
+
+task (commitOnDeploy, dependsOn: "spotlessApply") {
+	description = 'Commits when deployed.'
+	doLast {
+		if (true) {
+			def date = new Date()
+			def sdf = new SimpleDateFormat("MM/dd/yyyy HH:mm:ss")
+			grgit.add(patterns: [
+				'src/',
+				'vendordeps/',
+				'build.gradle',
+				'logs',
+				'gradle',
+				'.wpilib'
+			])
+			grgit.commit(message: "Automated commit at " + sdf.format(date), all: true)
+		}
+	}
+}
+
+// compileJava.dependsOn commitOnDeploy

math/build.gradle

@@ -0,0 +1,91 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ *
+ * This generated file contains a sample Java library project to get you started.
+ * For more details on building Java & JVM projects, please refer to https://docs.gradle.org/8.7/userguide/building_java_projects.html in the Gradle documentation.
+ */
+
+plugins {
+    // Apply the java-library plugin for API and implementation separation.
+    id 'java-library'
+    id "com.diffplug.spotless" version "6.24.0"
+
+}
+
+repositories {
+    // Use Maven Central for resolving dependencies.
+    mavenCentral()
+}
+
+spotless {
+// optional: limit format enforcement to just the files changed by this feature branch
+ratchetFrom 'origin/main'
+
+format 'misc', {
+	// define the files to apply `misc` to
+	target '*.gradle', '.gitattributes', '.gitignore'
+
+	// define the steps to apply to those files
+	trimTrailingWhitespace()
+	indentWithTabs() // or spaces. Takes an integer argument if you don't like 4
+	endWithNewline()
+}
+java {
+	// don't need to set target, it is inferred from java
+	// Allow ignoring certain parts in formatting.
+	toggleOffOn()
+	// apply a specific flavor of google-java-format
+	googleJavaFormat('1.19.2').aosp().reflowLongStrings()
+	// fix formatting of type annotations
+	formatAnnotations()
+}
+}
+
+compileJava.dependsOn 'spotlessApply'
+
+
+dependencies {
+    // Use JUnit Jupiter for testing.
+    testImplementation libs.junit.jupiter
+
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    // This dependency is exported to consumers, that is to say found on their compile classpath.
+    api libs.commons.math3
+
+    // This dependency is used internally, and not exposed to consumers on their own compile classpath.
+    implementation libs.guava
+}
+
+// Apply a specific Java toolchain to ease working on different environments.
+java {
+    toolchain {
+        languageVersion = JavaLanguageVersion.of(17)
+    }
+}
+
+tasks.named('test') {
+    // Use JUnit Platform for unit tests.
+    useJUnitPlatform()
+}
+
+task (commitOnDeploy, dependsOn: "spotlessApply") {
+	description = 'Commits when deployed.'
+	doLast {
+		if (true) {
+			def date = new Date()
+			def sdf = new SimpleDateFormat("MM/dd/yyyy HH:mm:ss")
+			grgit.add(patterns: [
+				'src/',
+				'vendordeps/',
+				'build.gradle',
+				'logs',
+				'gradle',
+				'.wpilib'
+			])
+			grgit.commit(message: "Automated commit at " + sdf.format(date), all: true)
+		}
+	}
+}
+
+// compileJava.dependsOn commitOnDeploy

math/src/main/java/InterpolateDouble.java

@@ -0,0 +1,87 @@
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.HashMap;
+
+public class InterpolateDouble {
+    private HashMap<Double, Double> map;
+    private ArrayList<Double> sortedKeys;
+
+    private final double minValue;
+    private final double maxValue;
+
+    private final double minKey;
+    private final double maxKey;
+
+    public InterpolateDouble(HashMap<Double, Double> map) {
+        this(map, Double.MIN_VALUE, Double.MAX_VALUE);
+    }
+
+    public InterpolateDouble(HashMap<Double, Double> map, double minValue, double maxValue) {
+        this.map = map;
+        this.minValue = minValue;
+        this.maxValue = maxValue;
+
+        sortedKeys = new ArrayList<Double>();
+        for (Double k : map.keySet()) {
+            sortedKeys.add(k);
+        }
+        Collections.sort(sortedKeys);
+
+        // Get lowest and highest keys of the HashMap
+        if (sortedKeys.size() > 0) {
+            minKey = sortedKeys.get(0);
+            maxKey = sortedKeys.get(sortedKeys.size() - 1);
+        } else {
+            throw new RuntimeException("Empty HashMap passed to InterpolateDouble");
+        }
+    }
+
+    /**
+     * Returns the interpolated value for the given key. If the key is not in the map, it will
+     * return the value for the closest key.
+     *
+     * @param key The key to interpolate
+     * @return The interpolated value
+     */
+    public double getValue(double key) {
+        if (map.containsKey(key)) {
+            return map.get(key);
+        }
+
+        // Ensure that key is within the bounds of the HashMap
+        if (key < minKey) {
+            return map.get(minKey);
+        } else if (key > maxKey) {
+            return map.get(maxKey);
+        }
+
+        double lowerKey = 0;
+        double upperKey = 0;
+        for (double k : sortedKeys) {
+            if (k < key) {
+                lowerKey = k;
+            } else {
+                upperKey = k;
+                break;
+            }
+        }
+
+        double lowerValue = map.get(lowerKey);
+        double upperValue = map.get(upperKey);
+
+        // Edge case if keys equal each other
+        if (upperKey == lowerKey) {
+            upperKey += 0.01;
+        }
+
+        double t = (key - lowerKey) / (upperKey - lowerKey);
+        double result = lowerValue * (1.0 - t) + t * upperValue;
+        if (result < minValue) {
+            return minValue;
+        } else if (result > maxValue) {
+            return maxValue;
+        } else {
+            return result;
+        }
+    }
+}