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Galaxia5987 · Jan 16, 2024 · 07c8d49 · 07c8d49
1 parent e43c8f4
commit 07c8d49
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/swerve/ModuleIOSparkMax.java b/src/main/java/frc/robot/swerve/ModuleIOSparkMax.java
@@ -39,7 +39,9 @@ public class ModuleIOSparkMax implements ModuleIO {
 
     private final SimpleMotorFeedforward feedforward =
             new SimpleMotorFeedforward(
-                    SwerveConstantsNeo.DRIVE_kS, SwerveConstantsNeo.DRIVE_kV, SwerveConstantsNeo.DRIVE_kA);
+                    SwerveConstantsNeo.DRIVE_kS,
+                    SwerveConstantsNeo.DRIVE_kV,
+                    SwerveConstantsNeo.DRIVE_kA);
 
     public ModuleIOSparkMax(
             int driveMotorID,

diff --git a/src/main/java/frc/robot/swerve/commands/XboxDrive.java b/src/main/java/frc/robot/swerve/commands/XboxDrive.java
@@ -19,8 +19,10 @@ public XboxDrive(SwerveDrive swerveDrive, XboxController xboxController) {
     @Override
     public void execute() {
         swerveDrive.drive(
-                MathUtil.applyDeadband(-xboxController.getLeftY(), SwerveConstantsNeo.XBOX_DEADBAND),
-                MathUtil.applyDeadband(-xboxController.getLeftX(), SwerveConstantsNeo.XBOX_DEADBAND),
+                MathUtil.applyDeadband(
+                        -xboxController.getLeftY(), SwerveConstantsNeo.XBOX_DEADBAND),
+                MathUtil.applyDeadband(
+                        -xboxController.getLeftX(), SwerveConstantsNeo.XBOX_DEADBAND),
                 MathUtil.applyDeadband(
                         -xboxController.getRightX() * SwerveConstantsNeo.STEERING_MULTIPLIER,
                         SwerveConstantsNeo.XBOX_DEADBAND),