Here are some things that Team 1038 has come up with that may aid other teams coding in java
https://github.com/LakotaRobotics1038/2018Utilities
I know this might be too much to ask for, but it would be amazing, if you could make one like this for a command to simple turn to angle.
(Yes I do realize a NavX example exists, but an example with simple motor.set would be great for tank)