Clean up code

blair-robot-project · Oct 26, 2017 · 9641a82 · 9641a82
1 parent 9a5b20b
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diff --git a/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java b/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java
@@ -14,23 +14,24 @@
  * Generates a motion profile that hits any number of waypoints.
  */
 public class Pathgen {
+
 	public static void main(String[] args) throws IOException {
 
-		final double CENTER_TO_FRONT = 27./2.;
-		final double CENTER_TO_BACK = 27./2. + 3.25;
-		final double CENTER_TO_SIDE = 29./2. + 3.25;
+		final double CENTER_TO_FRONT = 27. / 2.;
+		final double CENTER_TO_BACK = 27. / 2. + 3.25;
+		final double CENTER_TO_SIDE = 29. / 2. + 3.25;
 		final double BACK_FROM_PEG = -5;
 		//DO NOT TOUCH THE ONES BELOW
 		final double CARRIAGE_LEN = 3.63;
 		final double BLUE_WALL_TO_CENTER_PEG = 114.;
 		final double BLUE_WALL_TO_SIDE_PEG = 130.5;
 		final double BLUE_BACK_CORNER_TO_SIDE_PEG = 89.;
-		final double BLUE_HALF_KEY_LENGTH = 152./2.;
+		final double BLUE_HALF_KEY_LENGTH = 152. / 2.;
 		final double BLUE_KEY_CORNER_TO_SIDE_PEG = 16.;
 		final double RED_WALL_TO_CENTER_PEG = 113.5;
 		final double RED_WALL_TO_SIDE_PEG = 131.;
 		final double RED_BACK_CORNER_TO_SIDE_PEG = 97.;
-		final double RED_HALF_KEY_LENGTH = 152./2.;
+		final double RED_HALF_KEY_LENGTH = 152. / 2.;
 		final double RED_KEY_CORNER_TO_SIDE_PEG = 21.;
 		final double AIRSHIP_PARALLEL_OFFSET_BLUE = 1.;
 		final double AIRSHIP_PARALLEL_OFFSET_RED = 2.;
@@ -44,64 +45,64 @@ public static void main(String[] args) throws IOException {
 
 		Waypoint[] blueLeft = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint((BLUE_WALL_TO_SIDE_PEG-CENTER_TO_BACK - 0.5*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE*Math.cos(5.*Math.PI/6.))/12.
-						,-(BLUE_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.)/2.)*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE*Math.sin(5.*Math.PI/6.))/12.,-Math.PI/3.)
+				new Waypoint((BLUE_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.cos(5. * Math.PI / 6.)) / 12.
+						, -(BLUE_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.sin(5. * Math.PI / 6.)) / 12., -Math.PI / 3.)
 		};
 
 		Waypoint[] blueRight = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint((BLUE_WALL_TO_SIDE_PEG-CENTER_TO_BACK - 0.5*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE*Math.cos(5.*Math.PI/6.))/12.
-						,(BLUE_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.)/2.)*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE*Math.sin(5.*Math.PI/6.))/12.,Math.PI/3.)
+				new Waypoint((BLUE_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.cos(5. * Math.PI / 6.)) / 12.
+						, (BLUE_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_BLUE * Math.sin(5. * Math.PI / 6.)) / 12., Math.PI / 3.)
 		};
 
 		Waypoint[] blueCenter = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint((BLUE_WALL_TO_CENTER_PEG - CENTER_TO_BACK - PEG_BASE_TO_CENTER)/12., 0, 0)
+				new Waypoint((BLUE_WALL_TO_CENTER_PEG - CENTER_TO_BACK - PEG_BASE_TO_CENTER) / 12., 0, 0)
 		};
 
 		Waypoint[] redLeft = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint((RED_WALL_TO_SIDE_PEG-CENTER_TO_BACK - 0.5*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED*Math.cos(5.*Math.PI/6.))/12.
-						,-(RED_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.)/2.)*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED*Math.sin(5.*Math.PI/6.))/12.,-Math.PI/3.)
+				new Waypoint((RED_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.cos(5. * Math.PI / 6.)) / 12.
+						, -(RED_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.sin(5. * Math.PI / 6.)) / 12., -Math.PI / 3.)
 		};
 
 		Waypoint[] redRight = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint((RED_WALL_TO_SIDE_PEG-CENTER_TO_BACK - 0.5*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED*Math.cos(5.*Math.PI/6.))/12.
-						,(RED_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.)/2.)*PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED*Math.sin(5.*Math.PI/6.))/12.,Math.PI/3.)
+				new Waypoint((RED_WALL_TO_SIDE_PEG - CENTER_TO_BACK - 0.5 * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.cos(5. * Math.PI / 6.)) / 12.
+						, (RED_BACK_CORNER_TO_SIDE_PEG - CENTER_TO_SIDE - (Math.sqrt(3.) / 2.) * PEG_BASE_TO_CENTER + AIRSHIP_PARALLEL_OFFSET_RED * Math.sin(5. * Math.PI / 6.)) / 12., Math.PI / 3.)
 		};
 
 		Waypoint[] redCenter = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint((RED_WALL_TO_CENTER_PEG - CENTER_TO_BACK - PEG_BASE_TO_CENTER)/12., 0, 0)
+				new Waypoint((RED_WALL_TO_CENTER_PEG - CENTER_TO_BACK - PEG_BASE_TO_CENTER) / 12., 0, 0)
 		};
 
 		Waypoint[] redPegToKey = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint((PEG_BASE_TO_CENTER*Math.cos(Math.toRadians(180)) + RED_WALL_TO_SIDE_PEG*Math.cos(Math.toRadians(-60)) + RED_KEY_CORNER_TO_SIDE_PEG*Math.cos(Math.toRadians(30))
-				+ RED_HALF_KEY_LENGTH*Math.cos(Math.toRadians(75)) + CENTER_TO_BACK*Math.cos(Math.toRadians(165)))/12.,
-						(RED_WALL_TO_SIDE_PEG*Math.sin(Math.toRadians(-60)) + RED_KEY_CORNER_TO_SIDE_PEG*Math.sin(Math.toRadians(30))
-								+ RED_HALF_KEY_LENGTH*Math.sin(Math.toRadians(75)) + CENTER_TO_BACK*Math.sin(Math.toRadians(165)))/12.,
+				new Waypoint((PEG_BASE_TO_CENTER * Math.cos(Math.toRadians(180)) + RED_WALL_TO_SIDE_PEG * Math.cos(Math.toRadians(-60)) + RED_KEY_CORNER_TO_SIDE_PEG * Math.cos(Math.toRadians(30))
+						+ RED_HALF_KEY_LENGTH * Math.cos(Math.toRadians(75)) + CENTER_TO_BACK * Math.cos(Math.toRadians(165))) / 12.,
+						(RED_WALL_TO_SIDE_PEG * Math.sin(Math.toRadians(-60)) + RED_KEY_CORNER_TO_SIDE_PEG * Math.sin(Math.toRadians(30))
+								+ RED_HALF_KEY_LENGTH * Math.sin(Math.toRadians(75)) + CENTER_TO_BACK * Math.sin(Math.toRadians(165))) / 12.,
 						-Math.toRadians(16))
 		};
 
 		Waypoint[] bluePegToKey = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint((PEG_BASE_TO_CENTER*Math.cos(Math.toRadians(180)) + BLUE_WALL_TO_SIDE_PEG*Math.cos(Math.toRadians(60)) + BLUE_KEY_CORNER_TO_SIDE_PEG*Math.cos(Math.toRadians(-30))
-						+ BLUE_HALF_KEY_LENGTH*Math.cos(Math.toRadians(-75)) + CENTER_TO_BACK*Math.cos(Math.toRadians(-165)))/12.,
-						(BLUE_WALL_TO_SIDE_PEG*Math.sin(Math.toRadians(60)) + BLUE_KEY_CORNER_TO_SIDE_PEG*Math.sin(Math.toRadians(-30))
-								+ BLUE_HALF_KEY_LENGTH*Math.sin(Math.toRadians(-75)) + CENTER_TO_BACK*Math.sin(Math.toRadians(-165)))/12.,
+				new Waypoint((PEG_BASE_TO_CENTER * Math.cos(Math.toRadians(180)) + BLUE_WALL_TO_SIDE_PEG * Math.cos(Math.toRadians(60)) + BLUE_KEY_CORNER_TO_SIDE_PEG * Math.cos(Math.toRadians(-30))
+						+ BLUE_HALF_KEY_LENGTH * Math.cos(Math.toRadians(-75)) + CENTER_TO_BACK * Math.cos(Math.toRadians(-165))) / 12.,
+						(BLUE_WALL_TO_SIDE_PEG * Math.sin(Math.toRadians(60)) + BLUE_KEY_CORNER_TO_SIDE_PEG * Math.sin(Math.toRadians(-30))
+								+ BLUE_HALF_KEY_LENGTH * Math.sin(Math.toRadians(-75)) + CENTER_TO_BACK * Math.sin(Math.toRadians(-165))) / 12.,
 						Math.toRadians(16))
 		};
 
 		Waypoint[] backupRed = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint(3, 1, Math.PI/3)
+				new Waypoint(3, 1, Math.PI / 3)
 		};
 
 		Waypoint[] backupBlue = new Waypoint[]{
 				new Waypoint(0, 0, 0),
-				new Waypoint(3, -1, -Math.PI/3)
+				new Waypoint(3, -1, -Math.PI / 3)
 		};
 
 		Waypoint[] blueLoadingToLoading = new Waypoint[]{
@@ -155,7 +156,7 @@ public static void main(String[] args) throws IOException {
 		//50 in: 34.2
 
 		//433.415
-		double calciferWheelbase = 26./12.;
+		double calciferWheelbase = 26. / 12.;
 
 		Trajectory.Config config = new Trajectory.Config(Trajectory.FitMethod.HERMITE_CUBIC, Trajectory.Config.SAMPLES_HIGH,
 				0.05, 5., 4.5, 9.); //Units are seconds, feet/second, feet/(second^2), and feet/(second^3)

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java
@@ -180,7 +180,7 @@ public void robotInit() {
 	@Override
 	public void teleopInit() {
 		//Run startup command if we start in teleop.
-		if(!enabled){
+		if (!enabled) {
 			if (robotMap.getStartupCommand() != null) {
 				robotMap.getStartupCommand().start();
 			}
@@ -218,7 +218,7 @@ public void teleopPeriodic() {
 	@Override
 	public void autonomousInit() {
 		//Run startup command if we start in auto.
-		if(!enabled){
+		if (!enabled) {
 			if (robotMap.getStartupCommand() != null) {
 				robotMap.getStartupCommand().start();
 			}
@@ -266,9 +266,9 @@ public void disabledInit() {
 	 * Run when we first enable in test mode.
 	 */
 	@Override
-	public void testInit(){
+	public void testInit() {
 		//Run startup command if we start in test mode.
-		if(!enabled){
+		if (!enabled) {
 			if (robotMap.getStartupCommand() != null) {
 				robotMap.getStartupCommand().start();
 			}
@@ -280,7 +280,7 @@ public void testInit(){
 	 * Run every tic while disabled
 	 */
 	@Override
-	public void disabledPeriodic(){
+	public void disabledPeriodic() {
 		Clock.updateTime();
 	}
 

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/RobotMap2017.java
@@ -12,7 +12,6 @@
 import org.usfirst.frc.team449.robot.oi.unidirectional.OIUnidirectional;
 import org.usfirst.frc.team449.robot.other.Logger;
 import org.usfirst.frc.team449.robot.other.MotionProfileData;
-import org.usfirst.frc.team449.robot.other.UnidirectionalPoseEstimator;
 import org.usfirst.frc.team449.robot.subsystem.complex.climber.ClimberCurrentLimited;
 import org.usfirst.frc.team449.robot.subsystem.complex.intake.IntakeFixedAndActuated;
 import org.usfirst.frc.team449.robot.subsystem.complex.shooter.LoggingShooter;
@@ -211,47 +210,47 @@ public class RobotMap2017 {
 	/**
 	 * Default constructor.
 	 *
-	 * @param buttons             The buttons for controlling this robot. Can be null for an empty list.
-	 * @param oi                  The OI for controlling this robot's drive.
-	 * @param logger              The logger for recording events and telemetry data.
-	 * @param drive               The drive.
-	 * @param defaultDriveCommand The command for the drive to run during the teleoperated period.
-	 * @param climber             The climber for boarding the airship. Can be null.
-	 * @param shooter             The multiSubsystem for shooting fuel. Can be null.
-	 * @param camera              The cameras on this robot. Can be null.
-	 * @param intake              The intake for picking up and agitating balls. Can be null.
-	 * @param pneumatics          The pneumatics on this robot. Can be null.
-	 * @param gearHandler         The gear handler on this robot. Can be null.
-	 * @param RIOduinoPort        The I2C port of the RIOduino plugged into this robot. Can be null.
-	 * @param allianceSwitch      The switch for selecting which alliance we're on. Can be null if doMP is false or
-	 *                            testMP is true, but otherwise must have a value.
-	 * @param dropGearSwitch      The switch for deciding whether or not to drop the gear. Can be null if doMP is false
-	 *                            or testMP is true, but otherwise must have a value.
-	 * @param locationDial        The dial for selecting which side of the field the robot is on. Can be null if doMP is
-	 *                            false or testMP is true, but otherwise must have a value.
-	 * @param boilerAuto          The command to run in autonomous on the boiler side of the field. Can be null if doMP
-	 *                            is false or testMP is true, but otherwise must have a value.
-	 * @param centerAuto          The command to run in autonomous on the center of the field. Can be null if doMP is
-	 *                            false or testMP is true, but otherwise must have a value.
-	 * @param feederAuto          The command to run in autonomous on the feeding station side of the field. Can be null
-	 *                            if doMP is false or testMP is true, but otherwise must have a value.
-	 * @param leftTestProfile     The profile for the left side of the drive to run in test mode. Can be null if either
-	 *                            testMP or doMP are false, but otherwise must have a value.
-	 * @param rightTestProfile    The profile for the right side of the drive to run in test mode. Can be null if either
-	 *                            testMP or doMP are false, but otherwise must have a value.
-	 * @param leftProfiles        The starting position to peg profiles for the left side. Should have options for
-	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
-	 *                            Can be null if doMP is false or testMP is true, but otherwise must have a value.
-	 * @param rightProfiles       The starting position to peg profiles for the right side. Should have options for
-	 *                            "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
-	 *                            Can be null if doMP is false or testMP is true, but otherwise must have a value.
-	 * @param nonMPAutoCommand    The command to run during autonomous if doMP is false. Can be null, and if it is, no
-	 *                            command is run during autonomous.
-	 * @param autoStartupCommand The command to be run when first enabled in autonomous mode.
-	 * @param teleopStartupCommand    The command to be run when first enabled in teleoperated mode.
-	 * @param startupCommand The command to be run when first enabled.
-	 * @param testMP              Whether to run the test or real motion profile during autonomous. Defaults to false.
-	 * @param doMP                Whether to run a motion profile during autonomous. Defaults to true.
+	 * @param buttons              The buttons for controlling this robot. Can be null for an empty list.
+	 * @param oi                   The OI for controlling this robot's drive.
+	 * @param logger               The logger for recording events and telemetry data.
+	 * @param drive                The drive.
+	 * @param defaultDriveCommand  The command for the drive to run during the teleoperated period.
+	 * @param climber              The climber for boarding the airship. Can be null.
+	 * @param shooter              The multiSubsystem for shooting fuel. Can be null.
+	 * @param camera               The cameras on this robot. Can be null.
+	 * @param intake               The intake for picking up and agitating balls. Can be null.
+	 * @param pneumatics           The pneumatics on this robot. Can be null.
+	 * @param gearHandler          The gear handler on this robot. Can be null.
+	 * @param RIOduinoPort         The I2C port of the RIOduino plugged into this robot. Can be null.
+	 * @param allianceSwitch       The switch for selecting which alliance we're on. Can be null if doMP is false or
+	 *                             testMP is true, but otherwise must have a value.
+	 * @param dropGearSwitch       The switch for deciding whether or not to drop the gear. Can be null if doMP is false
+	 *                             or testMP is true, but otherwise must have a value.
+	 * @param locationDial         The dial for selecting which side of the field the robot is on. Can be null if doMP
+	 *                             is false or testMP is true, but otherwise must have a value.
+	 * @param boilerAuto           The command to run in autonomous on the boiler side of the field. Can be null if doMP
+	 *                             is false or testMP is true, but otherwise must have a value.
+	 * @param centerAuto           The command to run in autonomous on the center of the field. Can be null if doMP is
+	 *                             false or testMP is true, but otherwise must have a value.
+	 * @param feederAuto           The command to run in autonomous on the feeding station side of the field. Can be
+	 *                             null if doMP is false or testMP is true, but otherwise must have a value.
+	 * @param leftTestProfile      The profile for the left side of the drive to run in test mode. Can be null if either
+	 *                             testMP or doMP are false, but otherwise must have a value.
+	 * @param rightTestProfile     The profile for the right side of the drive to run in test mode. Can be null if
+	 *                             either testMP or doMP are false, but otherwise must have a value.
+	 * @param leftProfiles         The starting position to peg profiles for the left side. Should have options for
+	 *                             "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
+	 *                             Can be null if doMP is false or testMP is true, but otherwise must have a value.
+	 * @param rightProfiles        The starting position to peg profiles for the right side. Should have options for
+	 *                             "red_right", "red_center", "red_left", "blue_right", "blue_center", and "blue_left".
+	 *                             Can be null if doMP is false or testMP is true, but otherwise must have a value.
+	 * @param nonMPAutoCommand     The command to run during autonomous if doMP is false. Can be null, and if it is, no
+	 *                             command is run during autonomous.
+	 * @param autoStartupCommand   The command to be run when first enabled in autonomous mode.
+	 * @param teleopStartupCommand The command to be run when first enabled in teleoperated mode.
+	 * @param startupCommand       The command to be run when first enabled.
+	 * @param testMP               Whether to run the test or real motion profile during autonomous. Defaults to false.
+	 * @param doMP                 Whether to run a motion profile during autonomous. Defaults to true.
 	 */
 	@JsonCreator
 	public RobotMap2017(@Nullable List<CommandButton> buttons,

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/RunRunnables.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/commands/general/RunRunnables.java
@@ -44,7 +44,7 @@ protected void initialize() {
 	 */
 	@Override
 	protected void execute() {
-		for (Runnable runnable : runnables){
+		for (Runnable runnable : runnables) {
 			runnable.run();
 		}
 	}

diff --git a/...first/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java b/...first/frc/team449/robot/commands/multiInterface/drive/UnidirectionalNavXDefaultDrive.java
@@ -178,8 +178,8 @@ protected void usePIDOutput(double output) {
 			output = processPIDOutput(output);
 
 			//Deadband if we're stationary
-			if(oi.getLeftOutput() == 0 || oi.getRightOutput() == 0){
-				output=deadbandOutput(output);
+			if (oi.getLeftOutput() == 0 || oi.getRightOutput() == 0) {
+				output = deadbandOutput(output);
 			}
 
 			//Adjust the heading according to the PID output, it'll be positive if we want to go right.

diff --git a/...c/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java b/...c/team449/robot/commands/multiInterface/drive/UnidirectionalNavXShiftingDefaultDrive.java
@@ -4,7 +4,6 @@
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 import org.usfirst.frc.team449.robot.components.AutoshiftComponent;
-import org.usfirst.frc.team449.robot.components.NavXRumbleComponent;
 import org.usfirst.frc.team449.robot.drive.shifting.DriveShiftable;
 import org.usfirst.frc.team449.robot.drive.unidirectional.DriveUnidirectional;
 import org.usfirst.frc.team449.robot.generalInterfaces.shiftable.Shiftable;
@@ -62,7 +61,7 @@ public class UnidirectionalNavXShiftingDefaultDrive <T extends YamlSubsystem & D
 	 * @param subsystem                   The drive to execute this command on.
 	 * @param oi                          The OI controlling the robot.
 	 * @param autoshiftComponent          The helper object for autoshifting.
-	 * @param highGearAngularCoefficient The coefficient to multiply the loop output by in high gear. Defaults to 1.
+	 * @param highGearAngularCoefficient  The coefficient to multiply the loop output by in high gear. Defaults to 1.
 	 */
 	@JsonCreator
 	public UnidirectionalNavXShiftingDefaultDrive(@JsonProperty(required = true) double absoluteTolerance,

diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/NavXRumbleComponent.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/components/NavXRumbleComponent.java
@@ -6,7 +6,6 @@
 import com.fasterxml.jackson.annotation.ObjectIdGenerators;
 import com.kauailabs.navx.frc.AHRS;
 import org.jetbrains.annotations.NotNull;
-import org.usfirst.frc.team449.robot.Robot;
 import org.usfirst.frc.team449.robot.generalInterfaces.rumbleable.Rumbleable;
 import org.usfirst.frc.team449.robot.jacksonWrappers.MappedAHRS;
 import org.usfirst.frc.team449.robot.jacksonWrappers.MappedRunnable;
@@ -18,7 +17,7 @@
  * A component to rumble controllers based off the jerk measurements from a NavX.
  */
 @JsonIdentityInfo(generator = ObjectIdGenerators.StringIdGenerator.class)
-public class NavXRumbleComponent implements MappedRunnable{
+public class NavXRumbleComponent implements MappedRunnable {
 
 	/**
 	 * The factor to multiply feet/(sec^3) by to get Gs/millisecond, according to WolframAlpha.