Apply Prettier format

FRC-7525 · Oct 4, 2024 · 07be015 · 07be015
1 parent 9df4a25
commit 07be015
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -196,6 +196,7 @@ public static final class AmpBar {
 	}
 
 	public static final class Drive {
+
 		public static final PIDConstants HEADING_CORRECTION_PID = new PIDConstants(0.01, 0, 0);
 
 		public static final double DISCRETIZE_TIME_SECONDS = 0.02;
@@ -254,7 +255,7 @@ public static final class Module {
 			public static final FFConstants SIM_FF = new FFConstants(0.0, 0.13);
 			public static final PIDConstants SIM_DRIVE_PID = new PIDConstants(0.1, 0.0, 0.0);
 			public static final PIDConstants SIM_TURN_PID = new PIDConstants(10.0, 0.0, 0.0);
-			
+
 			// Hope this works??? This should be tuned using SYSID or Power, I, and Damping method
 			public static final FFConstants REAL_FF = new FFConstants(0, 0);
 			// TODO: Test 0.0020645, 0.0, 0.0 (YAGSL configs)

diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -83,7 +83,11 @@ public Drive(
 		lastHeadingRadians = poseEstimator.getEstimatedPosition().getRotation().getRadians();
 		headingCorrectionEnabled = true;
 		// TODO: Tune
-		headingCorrectionController = new PIDController(Constants.Drive.HEADING_CORRECTION_PID.kP, Constants.Drive.HEADING_CORRECTION_PID.kI, Constants.Drive.HEADING_CORRECTION_PID.kD);
+		headingCorrectionController = new PIDController(
+			Constants.Drive.HEADING_CORRECTION_PID.kP,
+			Constants.Drive.HEADING_CORRECTION_PID.kI,
+			Constants.Drive.HEADING_CORRECTION_PID.kD
+		);
 
 		this.gyroIO = gyroIO;
 		modules[0] = new Module(flModuleIO, 0);
@@ -306,7 +310,10 @@ public void periodic() {
 	 */
 	public void runVelocity(ChassisSpeeds speeds) {
 		// Calculate module setpoints
-		ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, Constants.Drive.DISCRETIZE_TIME_SECONDS);
+		ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(
+			speeds,
+			Constants.Drive.DISCRETIZE_TIME_SECONDS
+		);
 		SwerveModuleState[] setpointStates = kinematics.toSwerveModuleStates(discreteSpeeds);
 		SwerveDriveKinematics.desaturateWheelSpeeds(
 			setpointStates,