style: format code with Ktlint

This commit fixes the style issues introduced in 0201123 according to the output from Ktlint. Details: None
Bearbots6964 · Oct 25, 2024 · ec8f8e2 · ec8f8e2
1 parent 0201123
commit ec8f8e2
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Showing 7 changed files with 244 additions and 204 deletions.
diff --git a/src/main/java/frc/robot/Robot.kt b/src/main/java/frc/robot/Robot.kt
@@ -18,14 +18,12 @@ import org.littletonrobotics.junction.networktables.NT4Publisher
 import org.littletonrobotics.junction.wpilog.WPILOGReader
 import org.littletonrobotics.junction.wpilog.WPILOGWriter
 
-
 class Robot : LoggedRobot() {
     private var m_autonomousCommand: Command? = null
 
     private var m_robotContainer: RobotContainer? = null
 
     override fun robotInit() {
-
         Pathfinding.setPathfinder(LocalADStarAK())
 
         Logger.recordMetadata("ProjectName", "FRC2024-offseason") // Set a metadata value
@@ -42,24 +40,22 @@ class Robot : LoggedRobot() {
                 WPILOGWriter(
                     LogFileUtil.addPathSuffix(
                         logPath,
-                        "_sim"
-                    )
-                )
+                        "_sim",
+                    ),
+                ),
             ) // Save outputs to a new log
         }
 
-
 // Logger.disableDeterministicTimestamps() // See "Deterministic Timestamps" in the "Understanding Data Flow" page
         Logger.start() // Start logging! No more data receivers, replay sources, or metadata values may be added.
         m_robotContainer = RobotContainer()
 
         m_robotContainer!!.drivetrain.daqThread.setThreadPriority(99)
 
-
         DriverStation.silenceJoystickConnectionWarning(true)
         SignalLogger.start()
 
-        PathfindingCommand.warmupCommand().schedule();
+        PathfindingCommand.warmupCommand().schedule()
     }
 
     override fun robotPeriodic() {

diff --git a/src/main/java/frc/robot/RobotContainer.kt b/src/main/java/frc/robot/RobotContainer.kt
@@ -19,10 +19,10 @@ import edu.wpi.first.wpilibj2.command.Commands
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController
 import edu.wpi.first.wpilibj2.command.button.Trigger
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine
-import frc.robot.subsystems.vision.VisionSubsystem
 import frc.robot.generated.TunerConstants
 import frc.robot.subsystems.ArmSubsystem
 import frc.robot.subsystems.drive.CommandSwerveDrivetrain
+import frc.robot.subsystems.vision.VisionSubsystem
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser
 import java.util.function.Supplier
 import kotlin.math.atan2
@@ -48,7 +48,6 @@ class RobotContainer {
     val armSubsystem: ArmSubsystem = ArmSubsystem
     val visionSubsystem: VisionSubsystem = VisionSubsystem(drivetrain)
 
-
     // Slew Rate Limiters to limit acceleration of joystick inputs
     private val xLimiter: SlewRateLimiter = SlewRateLimiter(2.0)
     private val yLimiter: SlewRateLimiter = SlewRateLimiter(0.5)
@@ -89,10 +88,10 @@ class RobotContainer {
                     point.withModuleDirection(
                         Rotation2d(
                             -drv.leftY,
-                            -drv.leftX
-                        )
+                            -drv.leftX,
+                        ),
                     )
-                }
+                },
         )
 
         // reset the field-centric heading on start button press
@@ -103,16 +102,15 @@ class RobotContainer {
             Commands.runOnce({
                 MaxSpeed = TunerConstants.kSpeedAt12VoltsMps * TurtleSpeed
             })
-                .andThen({ AngularRate = TurtleAngularRate })
+                .andThen({ AngularRate = TurtleAngularRate }),
         )
         drv.leftBumper().onFalse(
             Commands.runOnce({
                 MaxSpeed = TunerConstants.kSpeedAt12VoltsMps * speedChooser.get()
             })
-                .andThen({ AngularRate = MaxAngularRate })
+                .andThen({ AngularRate = MaxAngularRate }),
         )
 
-
         if (Utils.isSimulation()) {
             drivetrain.seedFieldRelative(Pose2d(Translation2d(), Rotation2d.fromDegrees(0.0)))
         }
@@ -139,10 +137,8 @@ class RobotContainer {
         // Drivetrain needs to be placed against a sturdy wall and test stopped immediately upon wheel slip
         drv.back().and(drv.pov(0)).whileTrue(drivetrain.runDriveSlipTest())
 
-
         drv.rightBumper().whileTrue(drivetrain.rotateToAngleDiff(visionSubsystem.getNoteCamAngle()))
         /* TODO make sure this works and probably also see if we can't get it to also move the robot forward a bit to center it w/ the arm */
-
     }
 
     init {
@@ -174,7 +170,7 @@ class RobotContainer {
     }
 
     val autoCommand: Command?
-        get() =/* First put the drivetrain into auto run mode, then run the auto */
+        get() = /* First put the drivetrain into auto run mode, then run the auto */
             autoChooser.get()
 
     private fun newControlStyle() {
@@ -222,6 +218,4 @@ class RobotContainer {
     private fun conditionX(joystick: Double, deadband: Double): Double {
         return xLimiter.calculate(MathUtil.applyDeadband(joystick, deadband))
     }
-
-
 }
diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.kt b/src/main/java/frc/robot/subsystems/ArmSubsystem.kt
@@ -6,12 +6,6 @@ import com.ctre.phoenix.motorcontrol.can.TalonSRX
 import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration
 import edu.wpi.first.math.controller.ArmFeedforward
 import edu.wpi.first.math.controller.PIDController
-import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab
-import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
-
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.Subsystem
 
@@ -21,8 +15,6 @@ object ArmSubsystem : Subsystem {
     var config = TalonSRXConfiguration()
     var ff: ArmFeedforward
 
-
-
     init {
         // Initialize the arm subsystem
         motor = TalonSRX(31)

diff --git a/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.kt b/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.kt
@@ -90,16 +90,14 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem {
     }
 
     private fun configurePathPlanner() {
-
-
         AutoBuilder.configureHolonomic(
-            { this.state.Pose },  // Supplier of current robot pose
-            this::seedFieldRelative,  // Consumer for seeding pose against auto
+            { this.state.Pose }, // Supplier of current robot pose
+            this::seedFieldRelative, // Consumer for seeding pose against auto
             { this.currentRobotChassisSpeeds },
-            { speeds -> this.setControl(autoRequest.withSpeeds(speeds)) },  // Consumer of ChassisSpeeds to drive the robot
+            { speeds -> this.setControl(autoRequest.withSpeeds(speeds)) }, // Consumer of ChassisSpeeds to drive the robot
             holonomicPathFollowerConfig(),
             getAlliance(),
-            this
+            this,
         ) // Subsystem for requirements
     }
 
@@ -108,7 +106,7 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem {
         PIDConstants(10.0, 0.0, 0.0),
         TunerConstants.kSpeedAt12VoltsMps,
         driveBaseRadius,
-        ReplanningConfig()
+        ReplanningConfig(),
     )
 
     fun applyRequest(requestSupplier: Supplier<SwerveRequest?>): Command {
@@ -172,9 +170,11 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem {
     }
 
     private fun getHolonomicDriveController() = PPHolonomicDriveController(
-        PIDConstants(10.0, 0.0, 0.0), PIDConstants(10.0, 0.0, 0.0),
+        PIDConstants(10.0, 0.0, 0.0),
+        PIDConstants(10.0, 0.0, 0.0),
         // max module speed is 9.46 m/s, convert to ft/s
-        FeetPerSecond.of(9.46).`in`(MetersPerSecond), driveBaseRadius
+        FeetPerSecond.of(9.46).`in`(MetersPerSecond),
+        driveBaseRadius,
 
     )
 
@@ -191,7 +191,8 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem {
 
     private fun getReplanningConfig() = ReplanningConfig(true, true)
 
-    override fun simulationPeriodic() {/* Assume 20ms update rate, get battery voltage from WPILib */
+    override fun simulationPeriodic() {
+        /* Assume 20ms update rate, get battery voltage from WPILib */
         updateSimState(0.02, RobotController.getBatteryVoltage())
     }
 
@@ -202,33 +203,39 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem {
     private val driveVoltageRequest: SwerveVoltageRequest = SwerveVoltageRequest(true)
 
     private val m_driveSysIdRoutine: SysIdRoutine = SysIdRoutine(
-        SysIdRoutine.Config(null, null, null, ModifiedSignalLogger.logState()), SysIdRoutine.Mechanism(
+        SysIdRoutine.Config(null, null, null, ModifiedSignalLogger.logState()),
+        SysIdRoutine.Mechanism(
             { volts: Measure<Voltage?> ->
                 setControl(
                     driveVoltageRequest.withVoltage(
                         volts.`in`(
-                            Volts
-                        )
-                    )
+                            Volts,
+                        ),
+                    ),
                 )
-            }, null, this
-        )
+            },
+            null,
+            this,
+        ),
     )
 
     private val steerVoltageRequest: SwerveVoltageRequest = SwerveVoltageRequest(false)
 
     private val m_steerSysIdRoutine: SysIdRoutine = SysIdRoutine(
-        SysIdRoutine.Config(null, null, null, ModifiedSignalLogger.logState()), SysIdRoutine.Mechanism(
+        SysIdRoutine.Config(null, null, null, ModifiedSignalLogger.logState()),
+        SysIdRoutine.Mechanism(
             { volts: Measure<Voltage?> ->
                 setControl(
                     steerVoltageRequest.withVoltage(
                         volts.`in`(
-                            Volts
-                        )
-                    )
+                            Volts,
+                        ),
+                    ),
                 )
-            }, null, this
-        )
+            },
+            null,
+            this,
+        ),
     )
     override fun periodic() {
         /* Periodically try to apply the operator perspective */
@@ -239,10 +246,11 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem {
         if (!hasAppliedOperatorPerspective || DriverStation.isDisabled()) {
             DriverStation.getAlliance().ifPresent { allianceColor: Alliance ->
                 this.setOperatorPerspectiveForward(
-                    if (allianceColor == Alliance.Red)
+                    if (allianceColor == Alliance.Red) {
                         redAlliancePerspectiveRotation
-                    else
+                    } else {
                         blueAlliancePerspectiveRotation
+                    },
                 )
                 hasAppliedOperatorPerspective = true
             }
@@ -251,18 +259,24 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem {
 
     private val m_slipSysIdRoutine: SysIdRoutine = SysIdRoutine(
         SysIdRoutine.Config(
-            Volts.of(0.25).per(Seconds.of(1.0)), null, null, ModifiedSignalLogger.logState()
-        ), SysIdRoutine.Mechanism(
+            Volts.of(0.25).per(Seconds.of(1.0)),
+            null,
+            null,
+            ModifiedSignalLogger.logState(),
+        ),
+        SysIdRoutine.Mechanism(
             { volts: Measure<Voltage?> ->
                 setControl(
                     driveVoltageRequest.withVoltage(
                         volts.`in`(
-                            Volts
-                        )
-                    )
+                            Volts,
+                        ),
+                    ),
                 )
-            }, null, this
-        )
+            },
+            null,
+            this,
+        ),
     )
 
     fun runDriveQuasiTest(direction: SysIdRoutine.Direction?): Command {

diff --git a/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.kt b/src/main/java/frc/robot/subsystems/vision/VisionSubsystem.kt
@@ -32,18 +32,15 @@ class VisionSubsystem(var drivetrain: CommandSwerveDrivetrain) : SubsystemBase()
     init {
         SmartDashboard.putNumber("Field Error", fieldError.toDouble())
         SmartDashboard.putNumber("Limelight Error", distanceError.toDouble())
-
     }
 
-
     fun updateLeft(): EstimatedRobotPose? {
         return leftPhotonPoseEstimator.update().getOrNull()
     }
     fun updateRight(): EstimatedRobotPose? {
         return rightPhotonPoseEstimator.update().getOrNull()
     }
 
-
     fun useLimelight(enable: Boolean) {
         this.enable = enable
     }
@@ -70,4 +67,4 @@ class VisionSubsystem(var drivetrain: CommandSwerveDrivetrain) : SubsystemBase()
     companion object {
         private val field = RectanglePoseArea(Translation2d(0.0, 0.0), Translation2d(16.54, 8.02))
     }
-}
+}