chore(ci): Ran spotless

RoboLancers · Apr 28, 2024 · dda2b12 · dda2b12
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diff --git a/README.md b/README.md
@@ -1,12 +1,10 @@
 # Introducing Da-Pinchi, the Robolancer's 2024 Crescendo bot
 
-## 2024 WORLD CHAMPIONS 
+## 2024 WORLD CHAMPIONS
 
 *Some notes on our code*
 
 - We use vision data from PhotonVision (see [hardware](https://github.com/RoboLancers/RoboLancers-Hardware) for more details) fused with odometry for localization.
 - PathPlanner for making auto paths (including the legendary chaos autos)
 - We have modes for differentiating between climb and shooting
 - We have lobsters crawling in our code
-
-
diff --git a/src/main/java/org/robolancers321/RobotContainer.java b/src/main/java/org/robolancers321/RobotContainer.java
@@ -5,7 +5,6 @@
 
 import com.pathplanner.lib.auto.NamedCommands;
 import com.pathplanner.lib.path.PathPlannerPath;
-
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.simulation.AddressableLEDSim;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -25,8 +24,8 @@
 import org.robolancers321.Constants.PivotConstants;
 import org.robolancers321.Constants.RetractorConstants;
 import org.robolancers321.Constants.RetractorConstants.RetractorSetpoint;
+import org.robolancers321.commands.AutoCommands.PathAndRetract;
 import org.robolancers321.commands.AutoPickupNote;
-import org.robolancers321.commands.AutoScoreTrap;
 import org.robolancers321.commands.EmergencyCancel;
 import org.robolancers321.commands.FeederShot;
 import org.robolancers321.commands.IntakeNote;
@@ -50,7 +49,6 @@
 import org.robolancers321.commands.ScoreSpeakerFixedTeleop;
 import org.robolancers321.commands.ScoreSpeakerFromDistance;
 import org.robolancers321.commands.Shift;
-import org.robolancers321.commands.AutoCommands.PathAndRetract;
 import org.robolancers321.subsystems.Climber;
 import org.robolancers321.subsystems.LED.LED;
 import org.robolancers321.subsystems.LED.LED.Section;
@@ -156,8 +154,7 @@ private void configureLEDs() {
 
     LED.registerSignal(
         6,
-        () ->
-        this.retractor.getGoal() == RetractorConstants.RetractorSetpoint.kAmp.angle,
+        () -> this.retractor.getGoal() == RetractorConstants.RetractorSetpoint.kAmp.angle,
         LED.solid(Section.FULL, new Color(20, 0, 50)));
   }
 
@@ -283,9 +280,7 @@ private void configureDriverController() {
 
   private void configureManipulatorController() {
     new Trigger(this.manipulatorController::getBButton)
-        .onTrue((new Mate()
-        .andThen(new Shift())
-        .unless(() -> climbing)));
+        .onTrue((new Mate().andThen(new Shift()).unless(() -> climbing)));
 
     // .onlyIf(this.sucker::noteDetected)
 
@@ -308,16 +303,16 @@ private void configureManipulatorController() {
         .and(() -> !climbing)
         .onFalse(
             new SequentialCommandGroup(
-                this.retractor.moveToSpeaker(),
-                new ParallelDeadlineGroup(
-                    (new WaitUntilCommand(this.indexer::exitBeamBroken)
-                            .andThen(new WaitUntilCommand(this.indexer::exitBeamNotBroken))
-                            .andThen(new WaitCommand(0.1)))
-                        .withTimeout(1.0),
-                    this.indexer.outtake(),
-                    this.sucker.out(),
-                    Commands.idle(this.pivot, this.flywheel))
-            ).unless(() -> climbing));
+                    this.retractor.moveToSpeaker(),
+                    new ParallelDeadlineGroup(
+                        (new WaitUntilCommand(this.indexer::exitBeamBroken)
+                                .andThen(new WaitUntilCommand(this.indexer::exitBeamNotBroken))
+                                .andThen(new WaitCommand(0.1)))
+                            .withTimeout(1.0),
+                        this.indexer.outtake(),
+                        this.sucker.out(),
+                        Commands.idle(this.pivot, this.flywheel)))
+                .unless(() -> climbing));
 
     new Trigger(this.manipulatorController::getLeftBumper).onTrue(toggleClimbingMode());
 
@@ -428,13 +423,17 @@ private void configureAuto() {
     Skip - pickup center note first then go back for front note
      */
 
-    this.autoChooser.addOption("Do Nothing",
+    this.autoChooser.addOption(
+        "Do Nothing",
         new InstantCommand(
             () -> this.drivetrain.setYaw(this.drivetrain.getPose().getRotation().getDegrees())));
     this.autoChooser.setDefaultOption("Score And Sit", new ScoreAndSit());
 
-    this.autoChooser.addOption("TESTING DONT USE", new InstantCommand(
-            () -> this.drivetrain.setYaw(this.drivetrain.getPose().getRotation().getDegrees())).andThen(new PathAndRetract(PathPlannerPath.fromPathFile("Bruh"))));
+    this.autoChooser.addOption(
+        "TESTING DONT USE",
+        new InstantCommand(
+                () -> this.drivetrain.setYaw(this.drivetrain.getPose().getRotation().getDegrees()))
+            .andThen(new PathAndRetract(PathPlannerPath.fromPathFile("Bruh"))));
 
     // this.autoChooser.addOption("4NT Sweep", new Auto4NTSweep());
     // this.autoChooser.addOption("4NT Close", new Auto4NTClose());
@@ -465,7 +464,7 @@ private void configureAuto() {
 
     this.autoChooser.addOption("3 piece bottom center only", new ThreeBotCenter());
     this.autoChooser.addOption("3 piece bottom center only second note", new ThreeBotCenterAlt());
-    
+
     this.autoChooser.addOption("top chaos", new TopDisrupt());
     this.autoChooser.addOption("bottom chaos", new BotDisrupt());
 

diff --git a/src/main/java/org/robolancers321/commands/ScoreAmpIntake.java b/src/main/java/org/robolancers321/commands/ScoreAmpIntake.java
@@ -1,12 +1,8 @@
 /* (C) Robolancers 2024 */
 package org.robolancers321.commands;
 
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
 import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
-
 import org.robolancers321.subsystems.intake.Retractor;
 import org.robolancers321.subsystems.intake.Sucker;
 
@@ -19,11 +15,14 @@ public ScoreAmpIntake() {
     this.sucker = Sucker.getInstance();
 
     this.addCommands(
-      new WaitCommand(3.0),
-      this.retractor.moveToAmp().until(() -> this.retractor.atGoalTimed(0.5)).andThen(this.sucker.ampShot().withTimeout(0.4))
+        new WaitCommand(3.0),
+        this.retractor
+            .moveToAmp()
+            .until(() -> this.retractor.atGoalTimed(0.5))
+            .andThen(this.sucker.ampShot().withTimeout(0.4))
 
-    //  new ParallelDeadlineGroup(
-    //     new WaitCommand(0.4), this.sucker.ampShot(), Commands.idle(this.retractor))
-     );
+        //  new ParallelDeadlineGroup(
+        //     new WaitCommand(0.4), this.sucker.ampShot(), Commands.idle(this.retractor))
+        );
   }
 }
diff --git a/src/main/java/org/robolancers321/commands/ScoreSpeakerFixedAuto.java b/src/main/java/org/robolancers321/commands/ScoreSpeakerFixedAuto.java
@@ -29,9 +29,10 @@ public ScoreSpeakerFixedAuto() {
 
     this.addCommands(
         new ParallelCommandGroup(
-            this.flywheel.revSpeaker(),
-            this.retractor.moveToSpeaker(),
-            this.pivot.aimAtSpeakerFixed()).withTimeout(3.0),
+                this.flywheel.revSpeaker(),
+                this.retractor.moveToSpeaker(),
+                this.pivot.aimAtSpeakerFixed())
+            .withTimeout(3.0),
         new ParallelDeadlineGroup(
             (new WaitUntilCommand(this.indexer::exitBeamBroken)
                     .andThen(new WaitUntilCommand(this.indexer::exitBeamNotBroken))

diff --git a/src/main/java/org/robolancers321/commands/ScoreSpeakerFixedTeleop.java b/src/main/java/org/robolancers321/commands/ScoreSpeakerFixedTeleop.java
@@ -23,7 +23,8 @@ public ScoreSpeakerFixedTeleop() {
 
     this.addCommands(
         flywheel.revSpeaker(),
-        // retractor.moveToSpeaker(), // ! allows intake while revving, potentially releases at the incorrect angle
+        // retractor.moveToSpeaker(), // ! allows intake while revving, potentially releases at the
+        // incorrect angle
         pivot.aimAtSpeakerFixed(),
         Commands.idle());
   }

diff --git a/src/main/java/org/robolancers321/commands/TrapShot.java b/src/main/java/org/robolancers321/commands/TrapShot.java
@@ -31,8 +31,7 @@ public TrapShot() {
 
             // this.flywheel.revSpeakerFromRPM(
             //     () -> SmartDashboard.getNumber("trap flywheel rpm", 0)),
-            this.flywheel.revTrap()
-        ),
+            this.flywheel.revTrap()),
         this.indexer.outtake(),
         this.indexer.off(),
         this.flywheel.off());

diff --git a/src/main/java/org/robolancers321/subsystems/drivetrain/Drivetrain.java b/src/main/java/org/robolancers321/subsystems/drivetrain/Drivetrain.java
@@ -24,8 +24,6 @@
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.ConditionalCommand;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import java.util.Optional;
 import java.util.function.BooleanSupplier;
@@ -118,7 +116,7 @@ private Drivetrain() {
     this.configureField();
   }
 
-  public void setYaw(double angle){
+  public void setYaw(double angle) {
     this.gyro.setAngleAdjustment(-angle - this.gyro.getYaw());
   }
 
@@ -154,14 +152,12 @@ private void configurePathPlanner() {
                 // 0,0,0
                 DrivetrainConstants.kTranslationP,
                 DrivetrainConstants.kTranslationI,
-                DrivetrainConstants.kTranslationD
-                ),
+                DrivetrainConstants.kTranslationD),
             new PIDConstants(
                 // 0,0,0
                 DrivetrainConstants.kRotationP,
                 DrivetrainConstants.kRotationI,
-                DrivetrainConstants.kRotationD
-                ),
+                DrivetrainConstants.kRotationD),
             DrivetrainConstants.kMaxSpeedMetersPerSecond,
             0.5
                 * Math.hypot(
@@ -192,8 +188,7 @@ public Pose2d getPose() {
   }
 
   public void resetPose(Pose2d pose) {
-    this.odometry.resetPosition(
-        this.gyro.getRotation2d(), this.getModulePositions(), pose);
+    this.odometry.resetPosition(this.gyro.getRotation2d(), this.getModulePositions(), pose);
   }
 
   private SwerveModuleState[] getModuleStates() {
@@ -250,10 +245,7 @@ private void driveFromInput(
     ChassisSpeeds speeds =
         fieldRelative
             ? ChassisSpeeds.fromFieldRelativeSpeeds(
-                correctedStrafe,
-                correctedThrottle,
-                correctedOmega,
-                this.gyro.getRotation2d())
+                correctedStrafe, correctedThrottle, correctedOmega, this.gyro.getRotation2d())
             : new ChassisSpeeds(correctedStrafe, correctedThrottle, correctedOmega);
 
     this.driveFromSpeeds(speeds);
@@ -344,9 +336,12 @@ public TrapPose getClosestTrapPosition() {
     };
 
     Pose2d[] redTrapPoses = {
-      GeometryUtil.flipFieldPose(new Pose2d(new Translation2d(3.835, 2.29), Rotation2d.fromDegrees(-120))),
-      GeometryUtil.flipFieldPose(new Pose2d(new Translation2d(3.835, 5.91), Rotation2d.fromDegrees(120))),
-      GeometryUtil.flipFieldPose(new Pose2d(new Translation2d(6.97, 4.1), Rotation2d.fromDegrees(0)))
+      GeometryUtil.flipFieldPose(
+          new Pose2d(new Translation2d(3.835, 2.29), Rotation2d.fromDegrees(-120))),
+      GeometryUtil.flipFieldPose(
+          new Pose2d(new Translation2d(3.835, 5.91), Rotation2d.fromDegrees(120))),
+      GeometryUtil.flipFieldPose(
+          new Pose2d(new Translation2d(6.97, 4.1), Rotation2d.fromDegrees(0)))
     };
 
     Pose2d[] trapPosesForTeam = MyAlliance.isRed() ? redTrapPoses : blueTrapPoses;
@@ -641,7 +636,8 @@ public Command pathfindToTrap() {
   }
 
   // TODO: distance filter, same as trap
-  public Command alignToAmp(){
-    return AutoBuilder.pathfindThenFollowPath(PathPlannerPath.fromPathFile("AmpAlign"), DrivetrainConstants.kAutoConstraints);
+  public Command alignToAmp() {
+    return AutoBuilder.pathfindThenFollowPath(
+        PathPlannerPath.fromPathFile("AmpAlign"), DrivetrainConstants.kAutoConstraints);
   }
 }
diff --git a/src/main/java/org/robolancers321/subsystems/drivetrain/SwerveModule.java b/src/main/java/org/robolancers321/subsystems/drivetrain/SwerveModule.java
@@ -314,11 +314,12 @@ protected void tune() {
   @Override
   public void periodic() {
     SmartDashboard.putNumber(this.id + " ref angle", this.commandedState.angle.getDegrees());
-    SmartDashboard.putNumber(this.id + " strator current draw", driveMotor.getStatorCurrent().getValueAsDouble());
-    SmartDashboard.putNumber(this.id + " supply current draw", driveMotor.getSupplyCurrent().getValueAsDouble());
-    SmartDashboard.putNumber(this.id + " torque current draw", driveMotor.getTorqueCurrent().getValueAsDouble());
-
-
+    SmartDashboard.putNumber(
+        this.id + " strator current draw", driveMotor.getStatorCurrent().getValueAsDouble());
+    SmartDashboard.putNumber(
+        this.id + " supply current draw", driveMotor.getSupplyCurrent().getValueAsDouble());
+    SmartDashboard.putNumber(
+        this.id + " torque current draw", driveMotor.getTorqueCurrent().getValueAsDouble());
 
     // this.driveController.setReference(
     //     this.commandedState.speedMetersPerSecond, ControlType.kVelocity);

diff --git a/src/main/java/org/robolancers321/subsystems/intake/Retractor.java b/src/main/java/org/robolancers321/subsystems/intake/Retractor.java
@@ -234,21 +234,22 @@ private void tune() {
 
   public Command moveToAngle(DoubleSupplier angleDegSupplier) {
     return new SequentialCommandGroup(
-        new InstantCommand(
-            () ->
-                this.setGoal(
-                    MathUtil.clamp(
-                        angleDegSupplier.getAsDouble(),
-                        RetractorConstants.kMinAngle,
-                        RetractorConstants.kMaxAngle))),
-        this.run(
+            new InstantCommand(
                 () ->
                     this.setGoal(
                         MathUtil.clamp(
                             angleDegSupplier.getAsDouble(),
                             RetractorConstants.kMinAngle,
-                            RetractorConstants.kMaxAngle)))
-            .until(this::atGoal)).withTimeout(4.0);
+                            RetractorConstants.kMaxAngle))),
+            this.run(
+                    () ->
+                        this.setGoal(
+                            MathUtil.clamp(
+                                angleDegSupplier.getAsDouble(),
+                                RetractorConstants.kMinAngle,
+                                RetractorConstants.kMaxAngle)))
+                .until(this::atGoal))
+        .withTimeout(4.0);
   }
 
   public Command moveToAngle(double angleDeg) {

diff --git a/src/main/java/org/robolancers321/subsystems/launcher/AimTable.java b/src/main/java/org/robolancers321/subsystems/launcher/AimTable.java
@@ -1,8 +1,6 @@
 /* (C) Robolancers 2024 */
 package org.robolancers321.subsystems.launcher;
 
-import org.robolancers321.Constants.AimConstants;
-
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class AimTable {

diff --git a/src/main/java/org/robolancers321/subsystems/launcher/Flywheel.java b/src/main/java/org/robolancers321/subsystems/launcher/Flywheel.java
@@ -12,7 +12,6 @@
 import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import java.util.function.DoubleSupplier;
 import org.robolancers321.Constants.FlywheelConstants;
-import org.robolancers321.Constants.FlywheelConstants.FlywheelSetpoint;
 
 public class Flywheel extends SubsystemBase {
   private static Flywheel instance = null;
@@ -178,10 +177,10 @@ public Command revSpeaker() {
 
   public Command revTrap() {
     return runOnce(
-      () -> {
-        this.goalRPM = FlywheelConstants.FlywheelSetpoint.kTrap.rpm;
-      }
-    ).alongWith(new WaitUntilCommand(this::isRevved));
+            () -> {
+              this.goalRPM = FlywheelConstants.FlywheelSetpoint.kTrap.rpm;
+            })
+        .alongWith(new WaitUntilCommand(this::isRevved));
   }
 
   public Command revFeeder() {

diff --git a/src/main/java/org/robolancers321/subsystems/launcher/Pivot.java b/src/main/java/org/robolancers321/subsystems/launcher/Pivot.java
@@ -207,21 +207,22 @@ private void tune() {
 
   public Command moveToAngle(DoubleSupplier angleDegSupplier) {
     return new SequentialCommandGroup(
-        new InstantCommand(
-            () ->
-                this.setGoal(
-                    MathUtil.clamp(
-                        angleDegSupplier.getAsDouble(),
-                        PivotConstants.kMinAngle,
-                        PivotConstants.kMaxAngle))),
-        this.run(
+            new InstantCommand(
                 () ->
                     this.setGoal(
                         MathUtil.clamp(
                             angleDegSupplier.getAsDouble(),
                             PivotConstants.kMinAngle,
-                            PivotConstants.kMaxAngle)))
-            .until(this::atGoal)).withTimeout(4.0);
+                            PivotConstants.kMaxAngle))),
+            this.run(
+                    () ->
+                        this.setGoal(
+                            MathUtil.clamp(
+                                angleDegSupplier.getAsDouble(),
+                                PivotConstants.kMinAngle,
+                                PivotConstants.kMaxAngle)))
+                .until(this::atGoal))
+        .withTimeout(4.0);
   }
 
   public Command moveToAngle(double angleDeg) {