make ktlint happy

blair-robot-project · Apr 16, 2024 · 4d717ef · 4d717ef
1 parent 770dbb2
commit 4d717ef
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Showing 3 changed files with 30 additions and 12 deletions.
diff --git a/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt b/src/main/kotlin/frc/team449/control/vision/VisionEstimator.kt
@@ -186,7 +186,8 @@ class VisionEstimator(
     var usedTarget: PhotonTrackedTarget? = null
     for (target: PhotonTrackedTarget in result.targets) {
       if (target.fiducialId == 4 && DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red ||
-        target.fiducialId == 7 && DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue) {
+        target.fiducialId == 7 && DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Blue
+      ) {
         usedTarget = target
       }
     }
@@ -199,7 +200,6 @@ class VisionEstimator(
     // targets.
     val targetPosition = tagLayout.getTagPose(usedTarget.fiducialId)
 
-
     val bestPose = targetPosition
       .get()
       .transformBy(
@@ -209,11 +209,11 @@ class VisionEstimator(
 
     if (abs(
         MathUtil.angleModulus(
-          MathUtil.angleModulus(bestPose.rotation.z) -
-            MathUtil.angleModulus(driveHeading!!.radians)
-        )
+            MathUtil.angleModulus(bestPose.rotation.z) -
+              MathUtil.angleModulus(driveHeading!!.radians)
+          )
       )
-      > VisionConstants.SINGLE_TAG_HEADING_MAX_DEV_RAD
+    > VisionConstants.SINGLE_TAG_HEADING_MAX_DEV_RAD
     ) {
       DriverStation.reportWarning("Best Single Tag Heading over Max Deviation, deviated by ${Units.radiansToDegrees(abs(bestPose.rotation.z - driveHeading!!.radians))}", false)
       return Optional.empty()

diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
@@ -250,7 +250,7 @@ class ControllerBindings(
           stopAll()
             .alongWith(robot.pivot.moveStow())
         )
-    )//.onFalse(
+    ) // .onFalse(
 //      robot.feeder.intake()
 //        .alongWith(
 //          robot.shooter.scoreAmp(),
@@ -290,7 +290,7 @@ class ControllerBindings(
           .withTimeout(FeederConstants.CHECK_NOTE_IN_LOCATION_TIMEOUT_SECONDS)
           .andThen(checkNoteInLocation())
       )
-    )//.onFalse(
+    ) // .onFalse(
 //      SequentialCommandGroup(
 //        slowIntake(),
 //        outtakeToNotePosition()

diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt
@@ -187,23 +187,41 @@ open class Pivot(
 
   private fun getSlowVoltage(): Double {
     return MathUtil.clamp(
-      controller.getU(0) + feedforward.getUff(0) - observer.getXhat(2) + PivotConstants.SIMPLE_FF.calculate(lastProfileReference.position + PivotConstants.KG_OFFSET, lastProfileReference.velocity),
-        -PivotConstants.MAX_VOLTAGE,
+      controller.getU(0) +
+        feedforward.getUff(0) -
+        observer.getXhat(2) +
+        PivotConstants.SIMPLE_FF.calculate(
+          lastProfileReference.position + PivotConstants.KG_OFFSET,
+          lastProfileReference.velocity
+        ),
+      -PivotConstants.MAX_VOLTAGE,
       PivotConstants.MAX_VOLTAGE
     )
   }
 
   private fun getFastVoltage(): Double {
     return MathUtil.clamp(
-      fastController.getU(0) + feedforward.getUff(0) - observer.getXhat(2) + PivotConstants.SIMPLE_FF.calculate(lastProfileReference.position + PivotConstants.KG_OFFSET, lastProfileReference.velocity),
+      fastController.getU(0) +
+        feedforward.getUff(0) -
+        observer.getXhat(2) +
+        PivotConstants.SIMPLE_FF.calculate(
+          lastProfileReference.position + PivotConstants.KG_OFFSET,
+          lastProfileReference.velocity
+        ),
       -PivotConstants.MAX_VOLTAGE,
       PivotConstants.MAX_VOLTAGE
     )
   }
 
   private fun getAutoVoltage(): Double {
     return MathUtil.clamp(
-      autoController.getU(0) + feedforward.getUff(0) - observer.getXhat(2) + PivotConstants.SIMPLE_FF.calculate(lastProfileReference.position + PivotConstants.KG_OFFSET, lastProfileReference.velocity),
+      autoController.getU(0) +
+        feedforward.getUff(0) -
+        observer.getXhat(2) +
+        PivotConstants.SIMPLE_FF.calculate(
+          lastProfileReference.position + PivotConstants.KG_OFFSET,
+          lastProfileReference.velocity
+        ),
       -PivotConstants.MAX_VOLTAGE,
       PivotConstants.MAX_VOLTAGE
     )