spotless (damn it raf)

RoboLancers · Feb 17, 2024 · cedd9f1 · cedd9f1
1 parent 155ee25
commit cedd9f1
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Showing 10 changed files with 186 additions and 188 deletions.
diff --git a/src/main/java/org/robolancers321/RobotContainer.java b/src/main/java/org/robolancers321/RobotContainer.java
@@ -2,11 +2,6 @@
 package org.robolancers321;
 
 import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.commands.PathPlannerAuto;
-import com.pathplanner.lib.path.GoalEndState;
-import com.pathplanner.lib.path.PathPlannerPath;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -45,13 +40,17 @@ private void configureBindings() {
 
     new Trigger(this.driverController::getAButton).onTrue(this.drivetrain.zeroYaw());
 
-    new Trigger(() -> this.driverController.getRightTriggerAxis() > 0.8).onTrue(this.intake.retractor.moveToIntake());
+    new Trigger(() -> this.driverController.getRightTriggerAxis() > 0.8)
+        .onTrue(this.intake.retractor.moveToIntake());
 
-    new Trigger(() -> this.driverController.getRightTriggerAxis() > 0.8).onFalse(this.intake.retractor.moveToRetracted());
+    new Trigger(() -> this.driverController.getRightTriggerAxis() > 0.8)
+        .onFalse(this.intake.retractor.moveToRetracted());
 
-    new Trigger(() -> this.manipulatorController.getRightTriggerAxis() > 0.8).onTrue(this.launcher.pivot.aimAtAmp());
+    new Trigger(() -> this.manipulatorController.getRightTriggerAxis() > 0.8)
+        .onTrue(this.launcher.pivot.aimAtAmp());
 
-    new Trigger(() -> this.manipulatorController.getRightTriggerAxis() > 0.8).onFalse(this.launcher.pivot.moveToRetracted());
+    new Trigger(() -> this.manipulatorController.getRightTriggerAxis() > 0.8)
+        .onFalse(this.launcher.pivot.moveToRetracted());
   }
 
   private void configureAutoChooser() {

diff --git a/src/main/java/org/robolancers321/commands/Mate.java b/src/main/java/org/robolancers321/commands/Mate.java
@@ -1,8 +1,6 @@
 /* (C) Robolancers 2024 */
 package org.robolancers321.commands;
 
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import java.util.function.DoubleSupplier;
 import org.robolancers321.subsystems.intake.Intake;

diff --git a/src/main/java/org/robolancers321/subsystems/drivetrain/Drivetrain.java b/src/main/java/org/robolancers321/subsystems/drivetrain/Drivetrain.java
@@ -37,7 +37,6 @@
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonPoseEstimator;
 import org.photonvision.PhotonPoseEstimator.PoseStrategy;
-import org.photonvision.proto.Photon;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
@@ -67,9 +66,11 @@ public static Drivetrain getInstance() {
   // TODO: find this transform
   private static final Transform3d kRobotToCameraTransform =
       new Transform3d(0, 0, 0, new Rotation3d(0, Math.PI, 0));
-
-  private static final double kNoteCameraMountHeight = Units.inchesToMeters(11.0); // rough estimate of camera height while mounted on crate
-  private static final double kNoteCameraMountPitch = 0.0; // degrees w/r to the horizontal, above horizontal is positive
+
+  private static final double kNoteCameraMountHeight =
+      Units.inchesToMeters(11.0); // rough estimate of camera height while mounted on crate
+  private static final double kNoteCameraMountPitch =
+      0.0; // degrees w/r to the horizontal, above horizontal is positive
 
   private static final double kTrackWidthMeters = Units.inchesToMeters(17.5);
   private static final double kWheelBaseMeters = Units.inchesToMeters(17.5);
@@ -264,15 +265,17 @@ private void fuseVision() {
         visionEstimate.get().estimatedPose.toPose2d(), visionEstimate.get().timestampSeconds);
   }
 
-  private Translation2d getRelativeNoteLocation(){
+  private Translation2d getRelativeNoteLocation() {
     PhotonPipelineResult latestResult = this.noteCamera.getLatestResult();
 
     if (!latestResult.hasTargets()) return new Translation2d();
 
     PhotonTrackedTarget bestTarget = latestResult.getBestTarget();
 
     // TODO: plus or minus mount pitch?
-    double dz = kNoteCameraMountHeight / Math.tan((-bestTarget.getPitch() + kNoteCameraMountPitch) * Math.PI / 180.0);
+    double dz =
+        kNoteCameraMountHeight
+            / Math.tan((-bestTarget.getPitch() + kNoteCameraMountPitch) * Math.PI / 180.0);
     double dx = dz * Math.tan(bestTarget.getYaw() * Math.PI / 180.0);
 
     return new Translation2d(dx, dz);

diff --git a/src/main/java/org/robolancers321/subsystems/intake/Retractor.java b/src/main/java/org/robolancers321/subsystems/intake/Retractor.java
@@ -8,7 +8,6 @@
 import com.revrobotics.CANSparkBase.SoftLimitDirection;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.SparkAbsoluteEncoder.Type;
-
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.ProfiledPIDController;
@@ -41,7 +40,7 @@ public static Retractor getInstance() {
   private static final boolean kInvertEncoder = true;
 
   private static final int kCurrentLimit = 40;
-  
+
   private static final double kGearRatio = 360.0;
 
   private static final float kMinAngle = -20.0f;
@@ -105,7 +104,7 @@ private void configureMotor() {
     // this.motor.setSoftLimit(CANSparkBase.SoftLimitDirection.kReverse, (float) kMinAngle);
     // this.motor.enableSoftLimit(CANSparkBase.SoftLimitDirection.kForward, true);
     // this.motor.enableSoftLimit(CANSparkBase.SoftLimitDirection.kReverse, true);
-    
+
     this.motor.enableSoftLimit(SoftLimitDirection.kForward, false);
     this.motor.enableSoftLimit(SoftLimitDirection.kReverse, false);
   }
@@ -126,14 +125,16 @@ private void configureController() {
 
     this.m_enabled = true;
   }
-  
+
   @Override
   public double getMeasurement() {
     return this.getPositionDeg();
   }
 
   public double getPositionDeg() {
-    return this.encoder.getPosition() > 180 ? this.encoder.getPosition() - 360.0 : this.encoder.getPosition();
+    return this.encoder.getPosition() > 180
+        ? this.encoder.getPosition() - 360.0
+        : this.encoder.getPosition();
   }
 
   public double getVelocityDeg() {
@@ -147,7 +148,8 @@ private boolean atGoal() {
   @Override
   protected void useOutput(double output, TrapezoidProfile.State setpoint) {
     double feedforwardOutput =
-        this.feedforwardController.calculate(setpoint.position * Math.PI / 180.0, setpoint.velocity * Math.PI / 180.0);
+        this.feedforwardController.calculate(
+            setpoint.position * Math.PI / 180.0, setpoint.velocity * Math.PI / 180.0);
 
     SmartDashboard.putNumber("retractor position setpoint mp (deg)", setpoint.position);
     SmartDashboard.putNumber("retractor velocity setpoint mp (deg)", setpoint.velocity);
@@ -170,7 +172,7 @@ private void doSendables() {
     SmartDashboard.putNumber("retractor position (deg)", this.getPositionDeg());
     SmartDashboard.putNumber("retractor velocity (deg)", this.getVelocityDeg());
   }
-  
+
   @Override
   public void periodic() {
     super.periodic();
@@ -187,8 +189,12 @@ private void initTuning() {
     SmartDashboard.putNumber("retractor kv", SmartDashboard.getNumber("retractor kv", kV));
     SmartDashboard.putNumber("retractor kg", SmartDashboard.getNumber("retractor kg", kG));
 
-    SmartDashboard.putNumber("retractor max vel (deg)", SmartDashboard.getNumber("retractor max vel (deg)", kMaxVelocityDeg));
-    SmartDashboard.putNumber("retractor max acc (deg)", SmartDashboard.getNumber("retractor max acc (deg)", kMaxAccelerationDeg));
+    SmartDashboard.putNumber(
+        "retractor max vel (deg)",
+        SmartDashboard.getNumber("retractor max vel (deg)", kMaxVelocityDeg));
+    SmartDashboard.putNumber(
+        "retractor max acc (deg)",
+        SmartDashboard.getNumber("retractor max acc (deg)", kMaxAccelerationDeg));
 
     SmartDashboard.putNumber("retractor target position (deg)", this.getPositionDeg());
   }
@@ -211,11 +217,16 @@ private void tune() {
 
     this.m_controller.setConstraints(new Constraints(tunedMaxVel, tunedMaxAcc));
 
-    this.setGoal(MathUtil.clamp(SmartDashboard.getNumber("retractor target position (deg)", this.getPositionDeg()), kMinAngle, kMaxAngle));
+    this.setGoal(
+        MathUtil.clamp(
+            SmartDashboard.getNumber("retractor target position (deg)", this.getPositionDeg()),
+            kMinAngle,
+            kMaxAngle));
   }
-  
+
   private Command moveToAngle(double angleDeg) {
-    return run(() -> this.setGoal(MathUtil.clamp(angleDeg, kMinAngle, kMaxAngle))).until(this::atGoal);
+    return run(() -> this.setGoal(MathUtil.clamp(angleDeg, kMinAngle, kMaxAngle)))
+        .until(this::atGoal);
   }
 
   public Command moveToRetracted() {

diff --git a/src/main/java/org/robolancers321/subsystems/launcher/AimTable.java b/src/main/java/org/robolancers321/subsystems/launcher/AimTable.java
@@ -42,12 +42,12 @@ private static AimCharacteristic calculateSpeakerAimCharacteristic(double distan
     double lowerBound = keys.get(0);
     double upperBound = keys.get(keys.size() - 1);
 
-    if (distance < lowerBound){
+    if (distance < lowerBound) {
       AimTable.AimCharacteristic lowerValue = table.get(lowerBound);
 
       return new AimTable.AimCharacteristic(lowerValue.angle, lowerValue.rpm);
     }
-    
+
     if (distance > upperBound) {
       AimTable.AimCharacteristic upperValue = table.get(upperBound);
 

diff --git a/src/main/java/org/robolancers321/subsystems/launcher/Flywheel.java b/src/main/java/org/robolancers321/subsystems/launcher/Flywheel.java
@@ -5,8 +5,6 @@
 
 import com.revrobotics.*;
 import com.revrobotics.CANSparkBase.ControlType;
-
-import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -40,7 +38,7 @@ private enum FlywheelSetpoint {
 
     public final double rpm;
 
-    private FlywheelSetpoint(double rpm){
+    private FlywheelSetpoint(double rpm) {
       this.rpm = rpm;
     }
   }

diff --git a/src/main/java/org/robolancers321/subsystems/launcher/Indexer.java b/src/main/java/org/robolancers321/subsystems/launcher/Indexer.java
@@ -5,7 +5,6 @@
 
 import com.revrobotics.*;
 import com.revrobotics.CANSparkBase.ControlType;
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;

diff --git a/src/main/java/org/robolancers321/subsystems/launcher/Launcher.java b/src/main/java/org/robolancers321/subsystems/launcher/Launcher.java
@@ -1,17 +1,7 @@
 /* (C) Robolancers 2024 */
 package org.robolancers321.subsystems.launcher;
 
-import edu.wpi.first.math.filter.Debouncer;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
-import edu.wpi.first.wpilibj2.command.RunCommand;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
-import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
-import java.util.function.DoubleSupplier;
 
 public class Launcher extends SubsystemBase {
   /*

diff --git a/src/main/java/org/robolancers321/subsystems/launcher/Pivot.java b/src/main/java/org/robolancers321/subsystems/launcher/Pivot.java
@@ -6,7 +6,6 @@
 import com.revrobotics.*;
 import com.revrobotics.CANSparkBase.SoftLimitDirection;
 import com.revrobotics.SparkAbsoluteEncoder.Type;
-
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.ProfiledPIDController;
@@ -129,9 +128,11 @@ private void configureController() {
   public double getMeasurement() {
     return this.getPositionDeg();
   }
-  
+
   public double getPositionDeg() {
-    return this.encoder.getPosition() > 180 ? this.encoder.getPosition() - 360.0 : this.encoder.getPosition();
+    return this.encoder.getPosition() > 180
+        ? this.encoder.getPosition() - 360.0
+        : this.encoder.getPosition();
   }
 
   public double getVelocityDeg() {
@@ -145,7 +146,8 @@ private boolean atGoal() {
   @Override
   protected void useOutput(double output, TrapezoidProfile.State setpoint) {
     double feedforwardOutput =
-        this.feedforwardController.calculate(setpoint.position * Math.PI / 180.0, setpoint.velocity * Math.PI / 180.0);
+        this.feedforwardController.calculate(
+            setpoint.position * Math.PI / 180.0, setpoint.velocity * Math.PI / 180.0);
 
     SmartDashboard.putNumber("pivot position setpoint mp (deg)", setpoint.position);
     SmartDashboard.putNumber("pivot velocity setpoint mp (deg)", setpoint.velocity);
@@ -184,8 +186,11 @@ private void initTuning() {
     SmartDashboard.putNumber("pivot kg", SmartDashboard.getNumber("pivot kg", kG));
     SmartDashboard.putNumber("pivot kv", SmartDashboard.getNumber("pivot kv", kV));
 
-    SmartDashboard.putNumber("pivot max vel (deg)", SmartDashboard.getNumber("pivot max vel (deg)", kMaxVelocityDeg));
-    SmartDashboard.putNumber("pivot max acc (deg)", SmartDashboard.getNumber("pivot max acc (deg)", kMaxAccelerationDeg));
+    SmartDashboard.putNumber(
+        "pivot max vel (deg)", SmartDashboard.getNumber("pivot max vel (deg)", kMaxVelocityDeg));
+    SmartDashboard.putNumber(
+        "pivot max acc (deg)",
+        SmartDashboard.getNumber("pivot max acc (deg)", kMaxAccelerationDeg));
 
     SmartDashboard.putNumber("pivot target position (deg)", this.getPositionDeg());
   }
@@ -208,11 +213,17 @@ private void tune() {
 
     this.m_controller.setConstraints(new Constraints(tunedMaxVel, tunedMaxAcc));
 
-    this.setGoal(MathUtil.clamp(SmartDashboard.getNumber("pivot target position (deg)", this.getPositionDeg()), kMinAngle, kMaxAngle));
+    this.setGoal(
+        MathUtil.clamp(
+            SmartDashboard.getNumber("pivot target position (deg)", this.getPositionDeg()),
+            kMinAngle,
+            kMaxAngle));
   }
 
   private Command moveToAngle(DoubleSupplier angleDegSupplier) {
-    return run(() -> this.setGoal(MathUtil.clamp(angleDegSupplier.getAsDouble(), kMinAngle, kMaxAngle))).until(this::atGoal);
+    return run(() ->
+            this.setGoal(MathUtil.clamp(angleDegSupplier.getAsDouble(), kMinAngle, kMaxAngle)))
+        .until(this::atGoal);
   }
 
   private Command moveToAngle(double angleDeg) {