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Galaxia5987 · Jan 17, 2024 · 279ce25 · 279ce25
1 parent fbe54e1
commit 279ce25
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Showing 3 changed files with 8 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/swerve/ModuleIOSparkMax.java b/src/main/java/frc/robot/swerve/ModuleIOSparkMax.java
@@ -52,7 +52,6 @@ public ModuleIOSparkMax(
 
         this.encoder = new DutyCycleEncoder(encoderID);
 
-
         driveMotor.restoreFactoryDefaults();
         drivePIDController = driveMotor.getPIDController();
         driveEncoder = driveMotor.getEncoder();

diff --git a/src/main/java/frc/robot/vision/Vision.java b/src/main/java/frc/robot/vision/Vision.java
@@ -24,11 +24,12 @@ public static Vision getInstance() {
     }
 
     public static void initialize(VisionIO... ios) {
-        INSTANCE = new Vision(
-                Arrays.stream(ios).map(
-                        VisionModule::new
-                ).toList().toArray(new VisionModule[0])
-        );
+        INSTANCE =
+                new Vision(
+                        Arrays.stream(ios)
+                                .map(VisionModule::new)
+                                .toList()
+                                .toArray(new VisionModule[0]));
     }
 
     public Result[] getResults() {

diff --git a/src/main/java/frc/robot/vision/VisionSimIO.java b/src/main/java/frc/robot/vision/VisionSimIO.java
@@ -91,10 +91,8 @@ public void updateInputs(VisionInputs inputs) {
                 inputs.bestTargetAmbiguity = bestTarget.getPoseAmbiguity();
 
                 var cameraToTarget = bestTarget.getBestCameraToTarget();
-                inputs.cameraToTarget = new Pose3d(
-                        cameraToTarget.getTranslation(),
-                        cameraToTarget.getRotation()
-                );
+                inputs.cameraToTarget =
+                        new Pose3d(cameraToTarget.getTranslation(), cameraToTarget.getRotation());
             }
         }
     }