made ktlint happy

blair-robot-project · Mar 1, 2024 · a2a2cae · a2a2cae
1 parent b992eac
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Showing 5 changed files with 22 additions and 32 deletions.
diff --git a/src/main/kotlin/frc/team449/control/holonomic/MecanumDrive.kt b/src/main/kotlin/frc/team449/control/holonomic/MecanumDrive.kt
@@ -167,7 +167,7 @@ open class MecanumDrive(
   companion object {
 
     /** Helper method to create a motor for each wheel */
-    private fun createCorner(name: String, motorID: Int, inverted: Boolean): CANSparkMax {
+    private fun createCorner(motorID: Int, inverted: Boolean): CANSparkMax {
       return createSparkMax(
         motorID,
         MecanumConstants.DRIVE_UPR,
@@ -180,10 +180,10 @@ open class MecanumDrive(
     /** Create a new Mecanum Drive from DriveConstants */
     fun createMecanum(ahrs: AHRS): MecanumDrive {
       return MecanumDrive(
-        createCorner("frontLeft", MecanumConstants.DRIVE_MOTOR_FL, false),
-        createCorner("frontRight", MecanumConstants.DRIVE_MOTOR_FR, true),
-        createCorner("backLeft", MecanumConstants.DRIVE_MOTOR_BL, false),
-        createCorner("backRight", MecanumConstants.DRIVE_MOTOR_BR, true),
+        createCorner(MecanumConstants.DRIVE_MOTOR_FL, false),
+        createCorner(MecanumConstants.DRIVE_MOTOR_FR, true),
+        createCorner(MecanumConstants.DRIVE_MOTOR_BL, false),
+        createCorner(MecanumConstants.DRIVE_MOTOR_BR, true),
         Translation2d(MecanumConstants.WHEELBASE / 2, MecanumConstants.TRACKWIDTH / 2),
         Translation2d(MecanumConstants.WHEELBASE / 2, -MecanumConstants.TRACKWIDTH / 2),
         Translation2d(-MecanumConstants.WHEELBASE / 2, MecanumConstants.TRACKWIDTH / 2),

diff --git a/src/main/kotlin/frc/team449/control/holonomic/SwerveDrive.kt b/src/main/kotlin/frc/team449/control/holonomic/SwerveDrive.kt
@@ -439,7 +439,6 @@ open class SwerveDrive(
         SwerveModule.create(
           "FLModule",
           makeDrivingMotor(
-            "FL",
             SwerveConstants.DRIVE_MOTOR_FL,
             inverted = false
           ),
@@ -453,7 +452,7 @@ open class SwerveDrive(
             "FL",
             frontLeftTurn,
             frontLeftTurn.inverted
-            ),
+          ),
           driveMotorController(),
           turnMotorController(),
           driveFeedforward,
@@ -462,7 +461,6 @@ open class SwerveDrive(
         SwerveModule.create(
           "FRModule",
           makeDrivingMotor(
-            "FR",
             SwerveConstants.DRIVE_MOTOR_FR,
             inverted = false
           ),
@@ -486,7 +484,6 @@ open class SwerveDrive(
         SwerveModule.create(
           "BLModule",
           makeDrivingMotor(
-            "BL",
             SwerveConstants.DRIVE_MOTOR_BL,
             inverted = false
           ),
@@ -509,7 +506,6 @@ open class SwerveDrive(
         SwerveModule.create(
           "BRModule",
           makeDrivingMotor(
-            "BR",
             SwerveConstants.DRIVE_MOTOR_BR,
             inverted = false
           ),
@@ -553,7 +549,6 @@ open class SwerveDrive(
 
     /** Helper to make turning motors for swerve. */
     private fun makeDrivingMotor(
-      name: String,
       motorId: Int,
       inverted: Boolean
     ) =
@@ -582,7 +577,7 @@ open class SwerveDrive(
         gearing = 1.0,
         unitPerRotation = SwerveConstants.TURN_UPR,
         offset = offset,
-        currentLimit = SwerveConstants.STEERING_CURRENT_LIM
+        currentLimit = SwerveConstants.STEERING_CURRENT_LIM,
       )
   }
 }
diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt
@@ -7,8 +7,7 @@ import frc.team449.robot2024.Robot
 class RoutineChooser(private val robot: Robot) : SendableChooser<String>() {
 
   fun routineMap(): HashMap<String, Command> {
-    return hashMapOf(
-    )
+    return hashMapOf()
   }
 
   init {

diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
@@ -39,31 +39,27 @@ class ControllerBindings(
   private val m_angle = mutable(Radians.of(0.0))
   private val m_velocity = mutable(RadiansPerSecond.of(0.0))
 
-
-
   val orbitCmd = OrbitAlign(
     robot.drive,
     robot.driveController.hid,
     FieldConstants.SUBWOOFER_POSE
   )
 
-
-
-  private fun robotBindings() {
-
-  }
+  private fun robotBindings() {}
 
   private fun nonRobotBindings() {
     // slow drive
-    driveController.rightBumper().onTrue(
-      InstantCommand({ robot.drive.maxLinearSpeed = 1.0 })
-        .andThen(InstantCommand({ robot.drive.maxRotSpeed = PI / 4 }))
-    ).onFalse(
-      InstantCommand({ robot.drive.maxLinearSpeed = RobotConstants.MAX_LINEAR_SPEED })
-        .andThen(
-          InstantCommand({ robot.drive.maxRotSpeed = RobotConstants.MAX_ROT_SPEED })
-        )
-    )
+    driveController.rightBumper()
+      .onTrue(
+        InstantCommand(
+          { robot.drive.maxLinearSpeed = 1.0 }
+        ).andThen(InstantCommand({ robot.drive.maxRotSpeed = PI / 4 }))
+      ).onFalse(
+        InstantCommand({ robot.drive.maxLinearSpeed = RobotConstants.MAX_LINEAR_SPEED })
+          .andThen(
+            InstantCommand({ robot.drive.maxRotSpeed = RobotConstants.MAX_ROT_SPEED })
+          )
+      )
 
     // reset gyro
     driveController.start().onTrue(

diff --git a/src/main/kotlin/frc/team449/system/SparkUtil.kt b/src/main/kotlin/frc/team449/system/SparkUtil.kt
@@ -69,7 +69,7 @@ object SparkUtil {
     sparkMax.burnFlash()
   }
 
-  fun createSparkMax (
+  fun createSparkMax(
     id: Int,
     unitPerRotation: Double,
     gearing: Double,
@@ -85,7 +85,7 @@ object SparkUtil {
     // encoder information
 
     encInverted: Boolean = false
-  ) : CANSparkMax {
+  ): CANSparkMax {
     val motor = CANSparkMax(
       id,
       CANSparkLowLevel.MotorType.kBrushless