ktlint stuff

blair-robot-project · Feb 3, 2025 · d1a6b01 · d1a6b01
1 parent 617946f
commit d1a6b01
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Showing 4 changed files with 28 additions and 29 deletions.
diff --git a/src/main/kotlin/frc/team449/ControllerBindings.kt b/src/main/kotlin/frc/team449/ControllerBindings.kt
@@ -46,7 +46,7 @@ class ControllerBindings(
     )
 
     println("drive configured")
-    //temp
+    // temp
 
     // reef location passed in alla webappp, this is temp
     robot.driveController.x().onTrue(
@@ -63,7 +63,7 @@ class ControllerBindings(
         autoscore.currentCommand.schedule()
       })
     )
-    //on red alliance side passed in by webapp, this is temp
+    // on red alliance side passed in by webapp, this is temp
     robot.driveController.b().onTrue(
       runOnce({
         autoscore.currentCommand = autoscore.net(true)

diff --git a/src/main/kotlin/frc/team449/commands/autoscoreCommands/AutoScoreCommands.kt b/src/main/kotlin/frc/team449/commands/autoscoreCommands/AutoScoreCommands.kt
@@ -36,22 +36,21 @@ class FollowPathCommandCooked(val poseSubsystem: PoseSubsystem, command: Command
   }
 
   override fun isFinished(): Boolean {
-    if(autodistanceTimer < 0) {
+    if (autodistanceTimer < 0) {
       println("autoscore command finished")
       resetAndEndCommand()
       return true
     }
     if (poseSubsystem.pose.translation.getDistance(poseSubsystem.autoscoreCommandPose.translation) < poseSubsystem.autoDistance) {
       autodistanceTimer -= 0.05
-      //prevent command from timing out if we're close
+      // prevent command from timing out if we're close
     }
     return false
   }
 
   override fun end(interrupted: Boolean) {
     currentCommand.end(interrupted)
   }
-
 }
 
 class AutoScoreCommands(
@@ -123,7 +122,7 @@ class AutoScoreCommands(
       }
     }
     poseSubsystem.autoscoreCommandPose = reefPose
-    var returnCommand : Command = MagnetizePIDPoseAlign(drive, poseSubsystem, reefPose, controller)
+    var returnCommand: Command = MagnetizePIDPoseAlign(drive, poseSubsystem, reefPose, controller)
     if (usingPathfinding) {
       /*** pathfinding ***/
       returnCommand = AutoBuilder.pathfindToPose(
@@ -155,7 +154,7 @@ class AutoScoreCommands(
       constraints,
       0.0,
     )
-    if(!usingPathfinding) {
+    if (!usingPathfinding) {
       returnCommand = MagnetizePIDPoseAlign(
         drive,
         poseSubsystem,
@@ -178,13 +177,13 @@ class AutoScoreCommands(
     println("coral intake called")
     val coralIntakePose: Pose2d
     if (DriverStation.getAlliance().get() == DriverStation.Alliance.Red) {
-      if(isAtTopSource) {
+      if (isAtTopSource) {
         coralIntakePose = AutoScoreCommandConstants.coralIntakePoseRedTop
       } else {
         coralIntakePose = AutoScoreCommandConstants.coralIntakePoseRedBottom
       }
     } else {
-      if(isAtTopSource) {
+      if (isAtTopSource) {
         coralIntakePose = AutoScoreCommandConstants.coralIntakePoseBlueTop
       } else {
         coralIntakePose = AutoScoreCommandConstants.coralIntakePoseBlueBottom
@@ -238,7 +237,6 @@ class AutoScoreCommands(
     }
 
     return FollowPathCommandCooked(poseSubsystem, returnCommand)
-
   }
 
   /**
@@ -254,7 +252,7 @@ class AutoScoreCommands(
       AutoScoreCommandConstants.ReefLevel.L3 -> robot.superstructureManager.requestGoal(SuperstructureGoal.L3)
       AutoScoreCommandConstants.ReefLevel.L4 -> robot.superstructureManager.requestGoal(SuperstructureGoal.L4)
     }
-    //premove will be added in the bindings instead of here
+    // premove will be added in the bindings instead of here
   }
 
   /**
@@ -294,7 +292,7 @@ class AutoScoreCommands(
     return coralCommand
   }
 
-  fun reef(reefLocation: AutoScoreCommandConstants.ReefLocation, reefLevel: AutoScoreCommandConstants.ReefLevel ): Command {
+  fun reef(reefLocation: AutoScoreCommandConstants.ReefLocation, reefLevel: AutoScoreCommandConstants.ReefLevel): Command {
     val reefCommand = moveToReefCommand(reefLocation).andThen(putCoralInReef(reefLevel))
     return reefCommand
   }
@@ -303,5 +301,4 @@ class AutoScoreCommands(
     val processorCommand = moveToProcessorCommand().andThen(scoreProcessorCommand())
     return processorCommand
   }
-
-}
+}
diff --git a/src/main/kotlin/frc/team449/commands/autoscoreCommands/MagnetizePIDPoseAlign.kt b/src/main/kotlin/frc/team449/commands/autoscoreCommands/MagnetizePIDPoseAlign.kt
@@ -73,6 +73,7 @@ class MagnetizePIDPoseAlign(
   private var desiredVel = doubleArrayOf(0.0, 0.0, 0.0)
 
   private var magnetizationPower = 5.0
+
   // Time in seconds until magnetization will stop if the driver is opposing magnetization
   private var magnetizationStopTime = 1.2
   private var timeUntilMagnetizationStop = magnetizationStopTime
@@ -218,9 +219,13 @@ class MagnetizePIDPoseAlign(
         )
     }
 
-    var angle = abs(atan2(controllerDesVel.vxMetersPerSecond,
-      controllerDesVel.vyMetersPerSecond) -
-      atan2(pose.translation.x, pose.translation.y))
+    var angle = abs(
+      atan2(
+        controllerDesVel.vxMetersPerSecond,
+        controllerDesVel.vyMetersPerSecond
+      ) -
+        atan2(pose.translation.x, pose.translation.y)
+    )
     if (angle > Math.PI) {
       angle = 2 * Math.PI - angle
     }
@@ -240,8 +245,10 @@ class MagnetizePIDPoseAlign(
     // Values need to be adjusted I haven't tested yet
 
     //    pid controller from     pose rn    to  pose     controller given speeds for chassis speeds
-    drivetrain.set(calculate(poseSubsystem.pose, pose) + controllerDesVel *
-      (magnetizationPower * (poseSubsystem.pose.translation.getDistance(pose.translation) / 10.0)))
+    drivetrain.set(
+      calculate(poseSubsystem.pose, pose) + controllerDesVel *
+        (magnetizationPower * (poseSubsystem.pose.translation.getDistance(pose.translation) / 10.0))
+    )
     // constant                     pose rn                 distance to     desired pose
   }
 

diff --git a/src/main/kotlin/frc/team449/commands/autoscoreCommands/WebConnection.kt b/src/main/kotlin/frc/team449/commands/autoscoreCommands/WebConnection.kt
@@ -1,21 +1,17 @@
 package frc.team449.commands.autoscoreCommands
 
 import edu.wpi.first.networktables.NetworkTableInstance
-import edu.wpi.first.networktables.Publisher
 import edu.wpi.first.networktables.StringPublisher
 import edu.wpi.first.networktables.StringSubscriber
-import edu.wpi.first.networktables.TimestampedString
 import edu.wpi.first.wpilibj.DriverStation
-import edu.wpi.first.wpilibj2.command.Command
-import edu.wpi.first.wpilibj2.command.InstantCommand
 
 class WebConnection : Runnable {
   private val instance = NetworkTableInstance.getDefault()
   private val webComTable = instance.getTable("webcom")
   private val allianceTopic = webComTable.getStringTopic("Alliance")
   private val isDoneTopic = webComTable.getBooleanTopic("isDone")
-  val commandSubscriber : StringSubscriber
-  val commandPublisher : StringPublisher
+  val commandSubscriber: StringSubscriber
+  val commandPublisher: StringPublisher
   val isDonePublish = isDoneTopic.publish()
   private val alliancePublish = allianceTopic.publish()
   var command = "none"
@@ -26,13 +22,13 @@ class WebConnection : Runnable {
     val alliance = if (DriverStation.getAlliance().get() == DriverStation.Alliance.Red) "Red" else "Blue"
     alliancePublish.set(alliance)
     isDonePublish.set(true)
-    //have to set command here because topics will not be created yet.
+    // have to set command here because topics will not be created yet.
     commandSubscriber = webComTable.getStringTopic("Command").subscribe("none")
     commandPublisher = webComTable.getStringTopic("Command").publish()
     commandPublisher.set("none")
   }
 
-  fun closeServer () {
+  fun closeServer() {
     instance.stopServer()
     instance.close()
   }
@@ -41,5 +37,4 @@ class WebConnection : Runnable {
     commandPublisher.set("none")
     isDonePublish.set(true)
   }
-
-}
+}