Skip to content
This repository has been archived by the owner on Jan 9, 2025. It is now read-only.

Commit

Permalink
🎨 Spotless apply
Browse files Browse the repository at this point in the history
  • Loading branch information
@ThatXliner
ThatXliner committed Oct 28, 2024
1 parent 2a58f43 commit c76f771
Showing 1 changed file with 95 additions and 82 deletions.
177 changes: 95 additions & 82 deletions src/main/java/frc/robot/utils/PhoenixConfigEquality.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -58,95 +58,103 @@ && epsilonEquals(a.MagnetOffset, b.MagnetOffset, CANCODER_CONFIG_EPSILON)
}

public static boolean isEqual(Slot0Configs a, Slot0Configs b) {
boolean val = epsilonEquals(a.kP, b.kP, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kI, b.kI, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kD, b.kD, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kV, b.kV, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kS, b.kS, TALON_CONFIG_EPSILON);
boolean val =
epsilonEquals(a.kP, b.kP, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kI, b.kI, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kD, b.kD, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kV, b.kV, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kS, b.kS, TALON_CONFIG_EPSILON);
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("Slot0Configs not equal");
}
return val;
}

public static boolean isEqual(Slot1Configs a, Slot1Configs b) {
boolean val = epsilonEquals(a.kP, b.kP, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kI, b.kI, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kD, b.kD, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kV, b.kV, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kS, b.kS, TALON_CONFIG_EPSILON);
boolean val =
epsilonEquals(a.kP, b.kP, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kI, b.kI, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kD, b.kD, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kV, b.kV, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kS, b.kS, TALON_CONFIG_EPSILON);
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("Slot1Configs not equal");
}
return val;
}

public static boolean isEqual(Slot2Configs a, Slot2Configs b) {
boolean val = epsilonEquals(a.kP, b.kP, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kI, b.kI, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kD, b.kD, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kV, b.kV, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kS, b.kS, TALON_CONFIG_EPSILON);
boolean val =
epsilonEquals(a.kP, b.kP, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kI, b.kI, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kD, b.kD, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kV, b.kV, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.kS, b.kS, TALON_CONFIG_EPSILON);
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("Slot2Configs not equal");
}
return val;
}

public static boolean isEqual(MotorOutputConfigs a, MotorOutputConfigs b) {
boolean val = a.Inverted.value == b.Inverted.value
&& a.NeutralMode.value == b.NeutralMode.value
&& epsilonEquals(
a.DutyCycleNeutralDeadband, b.DutyCycleNeutralDeadband, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.PeakForwardDutyCycle, b.PeakForwardDutyCycle, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.PeakReverseDutyCycle, b.PeakReverseDutyCycle, TALON_CONFIG_EPSILON);
boolean val =
a.Inverted.value == b.Inverted.value
&& a.NeutralMode.value == b.NeutralMode.value
&& epsilonEquals(
a.DutyCycleNeutralDeadband, b.DutyCycleNeutralDeadband, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.PeakForwardDutyCycle, b.PeakForwardDutyCycle, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.PeakReverseDutyCycle, b.PeakReverseDutyCycle, TALON_CONFIG_EPSILON);
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("MotorOutputConfigs not equal");
}
return val;
}

public static boolean isEqual(CurrentLimitsConfigs a, CurrentLimitsConfigs b) {
boolean val = epsilonEquals(a.StatorCurrentLimit, b.StatorCurrentLimit, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.SupplyCurrentLimit, b.SupplyCurrentLimit, TALON_CONFIG_EPSILON)
&& a.StatorCurrentLimitEnable == b.StatorCurrentLimitEnable
&& a.SupplyCurrentLimitEnable == b.SupplyCurrentLimitEnable;
boolean val =
epsilonEquals(a.StatorCurrentLimit, b.StatorCurrentLimit, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.SupplyCurrentLimit, b.SupplyCurrentLimit, TALON_CONFIG_EPSILON)
&& a.StatorCurrentLimitEnable == b.StatorCurrentLimitEnable
&& a.SupplyCurrentLimitEnable == b.SupplyCurrentLimitEnable;
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("CurrentLimitsConfigs not equal");
}
return val;
}

public static boolean isEqual(VoltageConfigs a, VoltageConfigs b) {
boolean val = epsilonEquals(
a.SupplyVoltageTimeConstant, b.SupplyVoltageTimeConstant, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.PeakForwardVoltage, b.PeakForwardVoltage)
&& epsilonEquals(a.PeakReverseVoltage, b.PeakReverseVoltage);
boolean val =
epsilonEquals(
a.SupplyVoltageTimeConstant, b.SupplyVoltageTimeConstant, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.PeakForwardVoltage, b.PeakForwardVoltage)
&& epsilonEquals(a.PeakReverseVoltage, b.PeakReverseVoltage);
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("VoltageConfigs not equal");
}
return val;
}

public static boolean isEqual(TorqueCurrentConfigs a, TorqueCurrentConfigs b) {
boolean val = epsilonEquals(a.PeakForwardTorqueCurrent, b.PeakForwardTorqueCurrent, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.PeakReverseTorqueCurrent, b.PeakReverseTorqueCurrent, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.TorqueNeutralDeadband, b.TorqueNeutralDeadband, TALON_CONFIG_EPSILON);
boolean val =
epsilonEquals(a.PeakForwardTorqueCurrent, b.PeakForwardTorqueCurrent, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.PeakReverseTorqueCurrent, b.PeakReverseTorqueCurrent, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.TorqueNeutralDeadband, b.TorqueNeutralDeadband, TALON_CONFIG_EPSILON);
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("TorqueCurrentConfigs not equal");
}
return val;
}

public static boolean isEqual(FeedbackConfigs a, FeedbackConfigs b) {
boolean val = epsilonEquals(a.FeedbackRotorOffset, b.FeedbackRotorOffset, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.SensorToMechanismRatio, b.SensorToMechanismRatio, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.RotorToSensorRatio, b.RotorToSensorRatio, TALON_CONFIG_EPSILON)
&& a.FeedbackSensorSource.value == b.FeedbackSensorSource.value
&& a.FeedbackRemoteSensorID == b.FeedbackRemoteSensorID;
boolean val =
epsilonEquals(a.FeedbackRotorOffset, b.FeedbackRotorOffset, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.SensorToMechanismRatio, b.SensorToMechanismRatio, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.RotorToSensorRatio, b.RotorToSensorRatio, TALON_CONFIG_EPSILON)
&& a.FeedbackSensorSource.value == b.FeedbackSensorSource.value
&& a.FeedbackRemoteSensorID == b.FeedbackRemoteSensorID;
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("FeedbackConfigs not equal");
System.out.printf(
Expand All @@ -169,52 +177,55 @@ && epsilonEquals(a.RotorToSensorRatio, b.RotorToSensorRatio, TALON_CONFIG_EPSILO
}

public static boolean isEqual(OpenLoopRampsConfigs a, OpenLoopRampsConfigs b) {
boolean val = epsilonEquals(
a.DutyCycleOpenLoopRampPeriod, b.DutyCycleOpenLoopRampPeriod, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.VoltageOpenLoopRampPeriod, b.VoltageOpenLoopRampPeriod, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.TorqueOpenLoopRampPeriod, b.TorqueOpenLoopRampPeriod, TALON_CONFIG_EPSILON);
boolean val =
epsilonEquals(
a.DutyCycleOpenLoopRampPeriod, b.DutyCycleOpenLoopRampPeriod, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.VoltageOpenLoopRampPeriod, b.VoltageOpenLoopRampPeriod, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.TorqueOpenLoopRampPeriod, b.TorqueOpenLoopRampPeriod, TALON_CONFIG_EPSILON);
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("OpenLoopRampsConfigs not equal");
}
return val;
}

public static boolean isEqual(ClosedLoopRampsConfigs a, ClosedLoopRampsConfigs b) {
boolean val = epsilonEquals(
a.DutyCycleClosedLoopRampPeriod,
b.DutyCycleClosedLoopRampPeriod,
TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.VoltageClosedLoopRampPeriod, b.VoltageClosedLoopRampPeriod, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.TorqueClosedLoopRampPeriod, b.TorqueClosedLoopRampPeriod, TALON_CONFIG_EPSILON);
boolean val =
epsilonEquals(
a.DutyCycleClosedLoopRampPeriod,
b.DutyCycleClosedLoopRampPeriod,
TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.VoltageClosedLoopRampPeriod, b.VoltageClosedLoopRampPeriod, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.TorqueClosedLoopRampPeriod, b.TorqueClosedLoopRampPeriod, TALON_CONFIG_EPSILON);
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("ClosedLoopRampsConfigs not equal");
}
return val;
}

public static boolean isEqual(HardwareLimitSwitchConfigs a, HardwareLimitSwitchConfigs b) {
boolean val = a.ForwardLimitAutosetPositionEnable == b.ForwardLimitAutosetPositionEnable
&& b.ForwardLimitEnable == b.ForwardLimitEnable
&& a.ReverseLimitAutosetPositionEnable == b.ReverseLimitAutosetPositionEnable
&& a.ReverseLimitEnable == b.ReverseLimitEnable
&& epsilonEquals(
a.ForwardLimitAutosetPositionValue,
b.ForwardLimitAutosetPositionValue,
TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.ReverseLimitAutosetPositionValue,
b.ReverseLimitAutosetPositionValue,
TALON_CONFIG_EPSILON)
&& a.ForwardLimitRemoteSensorID == b.ForwardLimitRemoteSensorID
&& a.ReverseLimitRemoteSensorID == b.ReverseLimitRemoteSensorID
&& a.ForwardLimitSource.value == b.ForwardLimitSource.value
&& a.ReverseLimitSource.value == b.ReverseLimitSource.value
&& a.ForwardLimitType.value == b.ForwardLimitType.value
&& a.ReverseLimitType.value == b.ReverseLimitType.value;
boolean val =
a.ForwardLimitAutosetPositionEnable == b.ForwardLimitAutosetPositionEnable
&& b.ForwardLimitEnable == b.ForwardLimitEnable
&& a.ReverseLimitAutosetPositionEnable == b.ReverseLimitAutosetPositionEnable
&& a.ReverseLimitEnable == b.ReverseLimitEnable
&& epsilonEquals(
a.ForwardLimitAutosetPositionValue,
b.ForwardLimitAutosetPositionValue,
TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.ReverseLimitAutosetPositionValue,
b.ReverseLimitAutosetPositionValue,
TALON_CONFIG_EPSILON)
&& a.ForwardLimitRemoteSensorID == b.ForwardLimitRemoteSensorID
&& a.ReverseLimitRemoteSensorID == b.ReverseLimitRemoteSensorID
&& a.ForwardLimitSource.value == b.ForwardLimitSource.value
&& a.ReverseLimitSource.value == b.ReverseLimitSource.value
&& a.ForwardLimitType.value == b.ForwardLimitType.value
&& a.ReverseLimitType.value == b.ReverseLimitType.value;
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("HardwareLimitSwitchConfigs not equal");
}
Expand All @@ -230,23 +241,25 @@ public static boolean isEqual(AudioConfigs a, AudioConfigs b) {
}

public static boolean isEqual(SoftwareLimitSwitchConfigs a, SoftwareLimitSwitchConfigs b) {
boolean val = epsilonEquals(
a.ForwardSoftLimitThreshold, b.ForwardSoftLimitThreshold, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.ReverseSoftLimitThreshold, b.ReverseSoftLimitThreshold, TALON_CONFIG_EPSILON)
&& a.ReverseSoftLimitEnable == b.ReverseSoftLimitEnable
&& a.ForwardSoftLimitEnable == b.ForwardSoftLimitEnable;
boolean val =
epsilonEquals(
a.ForwardSoftLimitThreshold, b.ForwardSoftLimitThreshold, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.ReverseSoftLimitThreshold, b.ReverseSoftLimitThreshold, TALON_CONFIG_EPSILON)
&& a.ReverseSoftLimitEnable == b.ReverseSoftLimitEnable
&& a.ForwardSoftLimitEnable == b.ForwardSoftLimitEnable;
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("SoftwareLimitSwitchConfigs not equal");
}
return val;
}

public static boolean isEqual(MotionMagicConfigs a, MotionMagicConfigs b) {
boolean val = epsilonEquals(a.MotionMagicAcceleration, b.MotionMagicAcceleration, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.MotionMagicCruiseVelocity, b.MotionMagicCruiseVelocity, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.MotionMagicJerk, b.MotionMagicJerk, TALON_CONFIG_EPSILON);
boolean val =
epsilonEquals(a.MotionMagicAcceleration, b.MotionMagicAcceleration, TALON_CONFIG_EPSILON)
&& epsilonEquals(
a.MotionMagicCruiseVelocity, b.MotionMagicCruiseVelocity, TALON_CONFIG_EPSILON)
&& epsilonEquals(a.MotionMagicJerk, b.MotionMagicJerk, TALON_CONFIG_EPSILON);
if (ENABLE_LOGGING_INEQ && !val) {
System.out.println("MotionMagicConfigs not equal");
}
Expand Down

0 comments on commit c76f771

Please sign in to comment.