adding spotless

SciBorgs · Jan 22, 2024 · a9f3a43 · a9f3a43
1 parent 6046d80
commit a9f3a43
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Showing 5 changed files with 35 additions and 51 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/shooter/Shooter.java b/src/main/java/org/sciborgs1155/robot/shooter/Shooter.java
@@ -50,11 +50,12 @@ public Command runFeederInverse(double voltage) {
   public Command runFlywheel(DoubleSupplier velocity) {
     PIDController pid = new PIDController(Flywheel.kP, Flywheel.kI, Flywheel.kD);
     SimpleMotorFeedforward ff = new SimpleMotorFeedforward(Flywheel.kS, Flywheel.kV, Flywheel.kA);
-    return run(
-        () ->
+    return run(() ->
             flywheel.setVoltage(
                 pid.calculate(flywheel.getVelocity(), velocity.getAsDouble())
-                    + ff.calculate(velocity.getAsDouble()))).finallyDo(() -> pid.close()).withName("running Flywheel");
+                    + ff.calculate(velocity.getAsDouble())))
+        .finallyDo(() -> pid.close())
+        .withName("running Flywheel");
   }
 
   public Command runPivot(double goalAngle) {
@@ -66,10 +67,10 @@ public Command runPivot(double goalAngle) {
             new TrapezoidProfile.Constraints(Pivot.MAX_VELOCITY, Pivot.MAX_ACCEL));
     ArmFeedforward ff = new ArmFeedforward(Pivot.kS, Pivot.kG, Pivot.kV);
 
-    return run(
-        () ->
+    return run(() ->
             pivot.setVoltage(
                 pid.calculate(pivot.getPosition(), goalAngle)
-                    + ff.calculate(goalAngle + Pivot.POSITION_OFFSET, pid.getSetpoint().velocity))).withName("running Pivot");
+                    + ff.calculate(goalAngle + Pivot.POSITION_OFFSET, pid.getSetpoint().velocity)))
+        .withName("running Pivot");
   }
 }
diff --git a/src/main/java/org/sciborgs1155/robot/shooter/ShooterConstants.java b/src/main/java/org/sciborgs1155/robot/shooter/ShooterConstants.java
@@ -1,6 +1,7 @@
 package org.sciborgs1155.robot.shooter;
 
 import static edu.wpi.first.units.Units.*;
+
 import edu.wpi.first.units.*;
 
 public class ShooterConstants {
@@ -15,10 +16,9 @@ public static class Flywheel {
     public static final double RADIUS = 1;
     public static final Measure<Distance> CIRCUMFERENCE = Meters.of(2 * Math.PI * RADIUS);
 
-    public static final Measure<Angle> POSITION_FACTOR = 
-      Rotations.of(GEARING).times(CIRCUMFERENCE.in(Meters));
-    public static final Measure<Velocity<Angle>> VELOCITY_FACTOR = 
-      POSITION_FACTOR.per(Minute);
+    public static final Measure<Angle> POSITION_FACTOR =
+        Rotations.of(GEARING).times(CIRCUMFERENCE.in(Meters));
+    public static final Measure<Velocity<Angle>> VELOCITY_FACTOR = POSITION_FACTOR.per(Minute);
 
     public static final double kP = 1;
     public static final double kI = 0;

diff --git a/src/main/java/org/sciborgs1155/robot/shooter/feeder/RealFeeder.java b/src/main/java/org/sciborgs1155/robot/shooter/feeder/RealFeeder.java
@@ -3,18 +3,15 @@
 import static org.sciborgs1155.robot.Ports.Shooter.Feeder.*;
 import static org.sciborgs1155.robot.shooter.ShooterConstants.Feeder.*;
 
-import java.util.Set;
-
-import org.sciborgs1155.lib.SparkUtils;
-import org.sciborgs1155.lib.SparkUtils.Data;
-import org.sciborgs1155.lib.SparkUtils.Sensor;
-
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
-
 import edu.wpi.first.units.Current;
 import edu.wpi.first.units.Unit;
+import java.util.Set;
+import org.sciborgs1155.lib.SparkUtils;
+import org.sciborgs1155.lib.SparkUtils.Data;
+import org.sciborgs1155.lib.SparkUtils.Sensor;
 
 public class RealFeeder implements FeederIO {
 
@@ -31,12 +28,11 @@ public RealFeeder() {
 
     motor.burnFlash();
 
-   SparkUtils.configureFrameStrategy(
-    motor, 
-    Set.of(Data.POSITION, Data.VELOCITY, Data.VOLTAGE),
-    Set.of(Sensor.INTEGRATED),
-    false
-    );
+    SparkUtils.configureFrameStrategy(
+        motor,
+        Set.of(Data.POSITION, Data.VELOCITY, Data.VOLTAGE),
+        Set.of(Sensor.INTEGRATED),
+        false);
   }
 
   @Override

diff --git a/src/main/java/org/sciborgs1155/robot/shooter/flywheel/RealFlywheel.java b/src/main/java/org/sciborgs1155/robot/shooter/flywheel/RealFlywheel.java
@@ -4,16 +4,14 @@
 import static org.sciborgs1155.robot.Ports.Shooter.Flywheel.*;
 import static org.sciborgs1155.robot.shooter.ShooterConstants.Flywheel.*;
 
-import java.util.Set;
-
-import org.sciborgs1155.lib.SparkUtils;
-import org.sciborgs1155.lib.SparkUtils.Data;
-import org.sciborgs1155.lib.SparkUtils.Sensor;
-
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.RelativeEncoder;
+import java.util.Set;
+import org.sciborgs1155.lib.SparkUtils;
+import org.sciborgs1155.lib.SparkUtils.Data;
+import org.sciborgs1155.lib.SparkUtils.Sensor;
 
 public class RealFlywheel implements FlywheelIO {
   private final CANSparkFlex leftMotor;
@@ -39,14 +37,11 @@ public RealFlywheel() {
     encoder.setPositionConversionFactor(POSITION_CONVERSION);
 
     SparkUtils.configureFrameStrategy(
-      leftMotor, 
-      Set.of(Data.POSITION, Data.VELOCITY, Data.VOLTAGE),
-      Set.of(Sensor.INTEGRATED),
-      true
-      );
-    SparkUtils.configureFollowerFrameStrategy(
-      rightMotor
-      );
+        leftMotor,
+        Set.of(Data.POSITION, Data.VELOCITY, Data.VOLTAGE),
+        Set.of(Sensor.INTEGRATED),
+        true);
+    SparkUtils.configureFollowerFrameStrategy(rightMotor);
 
     rightMotor.follow(leftMotor);
 

diff --git a/src/main/java/org/sciborgs1155/robot/shooter/pivot/RealPivot.java b/src/main/java/org/sciborgs1155/robot/shooter/pivot/RealPivot.java
@@ -4,16 +4,14 @@
 import static org.sciborgs1155.robot.Ports.Shooter.Pivot.*;
 import static org.sciborgs1155.robot.shooter.ShooterConstants.Pivot.*;
 
-import java.util.Set;
-
-import org.sciborgs1155.lib.SparkUtils;
-import org.sciborgs1155.lib.SparkUtils.Data;
-import org.sciborgs1155.lib.SparkUtils.Sensor;
-
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkMax;
 import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import java.util.Set;
+import org.sciborgs1155.lib.SparkUtils;
+import org.sciborgs1155.lib.SparkUtils.Data;
+import org.sciborgs1155.lib.SparkUtils.Sensor;
 
 public class RealPivot implements PivotIO {
   private final CANSparkMax lead;
@@ -39,15 +37,9 @@ public RealPivot() {
     encoder.setDistancePerRotation(CONVERSION);
 
     SparkUtils.configureFrameStrategy(
-      lead, 
-      Set.of(Data.POSITION, Data.VELOCITY, Data.VOLTAGE),
-      Set.of(Sensor.INTEGRATED),
-      true
-    );
+        lead, Set.of(Data.POSITION, Data.VELOCITY, Data.VOLTAGE), Set.of(Sensor.INTEGRATED), true);
 
-    SparkUtils.configureFollowerFrameStrategy(
-      follow
-    );
+    SparkUtils.configureFollowerFrameStrategy(follow);
 
     follow.follow(lead);