Improve formatting

Co-authored-by: Tyler Veness <[email protected]>

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java

@@ -241,8 +241,13 @@ public double getMagnitude() {
    */
   public double getDirectionRadians() {
     // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
-    // +X is right and +Y is back, so 0 radians is right and CW is positive. Rotate by 90 degrees
-    // CCW to make 0 radians forward and CW positive.
+    // A positive rotation around the X axis moves the joystick right, and a
+    // positive rotation around the Y axis moves the joystick backward. When
+    // treating them as translations, 0 radians is measured from the right
+    // direction, and angle increases clockwise.
+    //
+    // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+    // so that 0 radians is forward.
     return m_hid.getDirectionRadians();
   }
 

wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp

@@ -27,7 +27,12 @@ double CommandJoystick::GetMagnitude() const {
 
 units::radian_t CommandJoystick::GetDirection() const {
   // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
-  // +X is right and +Y is back, so 0 radians is right and CW is positive.
-  // Rotate by 90 degrees CCW to make 0 radians forward and CW positive.
+  // A positive rotation around the X axis moves the joystick right, and a
+  // positive rotation around the Y axis moves the joystick backward. When
+  // treating them as translations, 0 radians is measured from the right
+  // direction, and angle increases clockwise.
+  //
+  // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+  // so that 0 radians is forward.
   return m_hid.GetDirection();
 }

wpilibc/src/main/native/cpp/Joystick.cpp

@@ -120,7 +120,12 @@ double Joystick::GetMagnitude() const {
 
 units::radian_t Joystick::GetDirection() const {
   // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
-  // +X is right and +Y is back, so 0 radians is right and CW is positive.
-  // Rotate by 90 degrees CCW to make 0 radians forward and CW positive.
+  // A positive rotation around the X axis moves the joystick right, and a
+  // positive rotation around the Y axis moves the joystick backward. When
+  // treating them as translations, 0 radians is measured from the right
+  // direction, and angle increases clockwise.
+  //
+  // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+  // so that 0 radians is forward.
   return units::radian_t{std::atan2(GetX(), -GetY())};
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -320,8 +320,13 @@ public double getMagnitude() {
    */
   public double getDirectionRadians() {
     // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
-    // +X is right and +Y is back, so 0 radians is right and CW is positive. Rotate by 90 degrees
-    // CCW to make 0 radians forward and CW positive.
+    // A positive rotation around the X axis moves the joystick right, and a
+    // positive rotation around the Y axis moves the joystick backward. When
+    // treating them as translations, 0 radians is measured from the right
+    // direction, and angle increases clockwise.
+    //
+    // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+    // so that 0 radians is forward.
     return Math.atan2(getX(), -getY());
   }