From da1260b0278b22e1cc6d48152dd2cce2b26cbfc8 Mon Sep 17 00:00:00 2001
From: Arnav495 <arnieincyberland@gmail.com>
Date: Sat, 14 Feb 2026 11:11:28 -0800
Subject: [PATCH] Brute force CRT.

---
 src/main/java/frc/robot/util/Remainders.java  | 25 +++++++++++++++
 .../java/frc/robot/util/RemainderTest.java    | 31 +++++++++++++++++++
 2 files changed, 56 insertions(+)
 create mode 100644 src/main/java/frc/robot/util/Remainders.java
 create mode 100644 src/test/java/frc/robot/util/RemainderTest.java

diff --git a/src/main/java/frc/robot/util/Remainders.java b/src/main/java/frc/robot/util/Remainders.java
new file mode 100644
index 0000000..0086c8d
--- /dev/null
+++ b/src/main/java/frc/robot/util/Remainders.java
@@ -0,0 +1,25 @@
+package frc.robot.util;
+
+public class Remainders {
+	public record Encoder(double val, double mod) {
+	}
+
+	public static double compute(Encoder a, Encoder b, double tolerance) {
+		double testing = a.val();
+		while (true) {
+			if (Math.abs(testing % a.mod() - a.val()) <= tolerance &&
+					Math.abs(testing % b.mod() - b.val()) <= tolerance)
+				return testing;
+
+			// alternately check positive and negative
+			if (testing > a.val()) {
+				double diff = testing - a.val();
+				testing -= 2 * diff;
+			} else {
+				double diff = a.val() - testing;
+				testing += 2 * diff;
+				testing += a.mod();
+			}
+		}
+	}
+}
diff --git a/src/test/java/frc/robot/util/RemainderTest.java b/src/test/java/frc/robot/util/RemainderTest.java
new file mode 100644
index 0000000..52cbf01
--- /dev/null
+++ b/src/test/java/frc/robot/util/RemainderTest.java
@@ -0,0 +1,31 @@
+
+package frc.robot.util;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import frc.robot.util.Remainders.Encoder;
+
+public class RemainderTest {
+
+	@BeforeEach
+	public void prepare() {
+	}
+
+	@AfterEach
+	public void cleanup() {
+	}
+
+	@Test
+	public void test() {
+		double tolerance = 0.01;
+
+		Encoder a = new Encoder(5000 % 123, 123);
+		Encoder b = new Encoder(5000 % 321, 321);
+		double val = Remainders.compute(a, b, tolerance);
+		assertEquals(5000, val, tolerance);
+	}
+}
-- 
2.39.5