Add chassisAccelerations class

src/main/java/com/techhounds/houndutil/houndlib/ChassisAccelerations.java

@@ -0,0 +1,22 @@
+package com.techhounds.houndutil.houndlib;
+
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+
+public class ChassisAccelerations {
+    public double axMetersPerSecondSquared;
+    public double ayMetersPerSecondSquared;
+    public double omegaRadiansPerSecondSquared;
+
+    public ChassisAccelerations(double axMetersPerSecondSquared, double ayMetersPerSecondSquared,
+            double omegaRadiansPerSecondSquared) {
+        this.axMetersPerSecondSquared = axMetersPerSecondSquared;
+        this.ayMetersPerSecondSquared = ayMetersPerSecondSquared;
+        this.omegaRadiansPerSecondSquared = omegaRadiansPerSecondSquared;
+    }
+
+    public ChassisAccelerations(ChassisSpeeds speed, ChassisSpeeds previousSpeed, double dt) {
+        this.axMetersPerSecondSquared = (speed.vxMetersPerSecond - previousSpeed.vxMetersPerSecond) / dt;
+        this.ayMetersPerSecondSquared = (speed.vyMetersPerSecond - previousSpeed.vyMetersPerSecond) / dt;
+        this.omegaRadiansPerSecondSquared = (speed.omegaRadiansPerSecond - previousSpeed.omegaRadiansPerSecond) / dt;
+    }
+}