Merge branch 'GRC-Practice-Day-Tuning' of https://github.com/FRC-7525…

…/2024-Rewrite into GRC-Practice-Day-Tuning
FRC-7525 · Oct 4, 2024 · 9521c68 · 9521c68
2 parents c92949b + 89f8cbe
commit 9521c68
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -37,6 +37,7 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+
 	public static final double GRAVITY = 9.81;
 	public static final double SIM_UPDATE_TIME = 0.05;
 

diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java
@@ -56,7 +56,11 @@ public Module(ModuleIO io, int index) {
 			// any PID/FF values for controllers idk why
 			case REAL:
 				// TODO: TEST THIS
-				driveFeedforward = createDriveFeedforward(Constants.Drive.OPTIMAL_VOLTAGE, Constants.Drive.MAX_LINEAR_SPEED, Constants.Drive.WHEEL_GRIP_COEFFICIENT_OF_FRICTION);
+				driveFeedforward = createDriveFeedforward(
+					Constants.Drive.OPTIMAL_VOLTAGE,
+					Constants.Drive.MAX_LINEAR_SPEED,
+					Constants.Drive.WHEEL_GRIP_COEFFICIENT_OF_FRICTION
+				);
 				driveFeedback = new PIDController(
 					Constants.Drive.Module.REAL_DRIVE_PID.kP,
 					Constants.Drive.Module.REAL_DRIVE_PID.kI,
@@ -211,7 +215,10 @@ public static void antiJitter(
 		SwerveModuleState lastModuleState,
 		double maxSpeed
 	) {
-		if (Math.abs(moduleState.speedMetersPerSecond) <= (maxSpeed * Constants.Drive.ANTI_JITTER_DRIVE_THRESHOLD)) {
+		if (
+			Math.abs(moduleState.speedMetersPerSecond) <=
+			(maxSpeed * Constants.Drive.ANTI_JITTER_DRIVE_THRESHOLD)
+		) {
 			moduleState.angle = lastModuleState.angle;
 		}
 	}