fix ktlint

src/main/kotlin/frc/team449/ControllerBindings.kt

@@ -24,22 +24,25 @@ class ControllerBindings(
   private fun robotBindings() {
     /** Call robot functions you create below */
     val autoscore = AutoScoreCommands(robot.drive, robot.poseSubsystem)
-    driveController.x().onTrue(ConditionalCommand(
-      autoscore.moveToReefCommand(AutoScoreCommandConstants.reefLocation.Location1B),
-      autoscore.moveToReefCommand(AutoScoreCommandConstants.reefLocation.Location1R),
-      {DriverStation.getAlliance().get() == DriverStation.Alliance.Blue}
-    ))
-    driveController.a().onTrue(ConditionalCommand(
-      autoscore.moveToProcessorCommandRed(),
-      autoscore.moveToProcessorCommandBlue(),
-      {DriverStation.getAlliance().get() == DriverStation.Alliance.Blue}
-    ))
+    driveController.x().onTrue(
+      ConditionalCommand(
+        autoscore.moveToReefCommand(AutoScoreCommandConstants.reefLocation.Location1B),
+        autoscore.moveToReefCommand(AutoScoreCommandConstants.reefLocation.Location1R),
+        { DriverStation.getAlliance().get() == DriverStation.Alliance.Blue }
+      )
+    )
+    driveController.a().onTrue(
+      ConditionalCommand(
+        autoscore.moveToProcessorCommandRed(),
+        autoscore.moveToProcessorCommandBlue(),
+        { DriverStation.getAlliance().get() == DriverStation.Alliance.Blue }
+      )
+    )
   }
 
   private fun nonRobotBindings() {
     // slowDrive()
 
-
     if (RobotBase.isSimulation()) resetOdometrySim()
 
     resetGyro()

src/main/kotlin/frc/team449/Robot.kt

@@ -1,8 +1,5 @@
 package frc.team449
 
-import edu.wpi.first.networktables.BooleanSubscriber
-import edu.wpi.first.networktables.NetworkTable
-import edu.wpi.first.networktables.NetworkTableInstance
 import edu.wpi.first.wpilibj.PowerDistribution
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController
 import frc.team449.subsystems.RobotConstants
@@ -14,7 +11,6 @@ import frc.team449.system.AHRS
 import monologue.Annotations.Log
 import monologue.Logged
 
-
 class Robot : RobotBase(), Logged {
 
   val driveController = CommandXboxController(0)

src/main/kotlin/frc/team449/commands/autoscoreCommands/AutoScoreCommandConstants.kt

@@ -48,199 +48,223 @@ class AutoScoreCommandConstants() {
     fun radians(degree: Int): Double {
       return Units.degreesToRadians(degree.toDouble())
     }
-    //FILLER VALUES CURRENTLY
+    // FILLER VALUES CURRENTLY
 
-    //processor pose values
-    //BLUE
+    // processor pose values
+    // BLUE
     val processorTranslation2dBlue = Translation2d(6.358, 0.622)
-    val processorRotation2dBlue = Rotation2d(3*Math.PI / 2) // in radians
+    val processorRotation2dBlue = Rotation2d(3 * Math.PI / 2) // in radians
     val processorPoseBlue = Pose2d(processorTranslation2dBlue, processorRotation2dBlue)
-    //RED
+
+    // RED
     val processorTranslation2dRed = Translation2d(11.520, 7.500)
     val processorRotation2dRed = Rotation2d(Math.PI / 2) // in radians
     val processorPoseRed = Pose2d(processorTranslation2dRed, processorRotation2dRed)
 
-    //coral intake pose values
-    //BLUE
-    //TOP
+    // coral intake pose values
+    // BLUE
+    // TOP
     val coralIntakeTranslation2dBlueTop = Translation2d(16.454, 6.990)
     val coralIntakeRotation2dBlueTop = Rotation2d(radians(55)) // in radians
     val coralIntakePoseBlueTop = Pose2d(coralIntakeTranslation2dBlueTop, coralIntakeRotation2dBlueTop)
-    //BOTTOM
+
+    // BOTTOM
     val coralIntakeTranslation2dBlueBottom = Translation2d(16.454, 1.111)
     val coralIntakeRotation2dBlueBottom = Rotation2d(radians(-55)) // in radians
     val coralIntakePoseBlueBottom = Pose2d(coralIntakeTranslation2dBlueBottom, coralIntakeRotation2dBlueBottom)
-    //RED
-    //TOP
+
+    // RED
+    // TOP
     val coralIntakeTranslation2dRedTop = Translation2d(1.214, 6.990)
     val coralIntakeRotation2dRedTop = Rotation2d(radians(125)) // in radians
     val coralIntakePoseRedTop = Pose2d(coralIntakeTranslation2dRedTop, coralIntakeRotation2dRedTop)
-    //BOTTOM
+
+    // BOTTOM
     val coralIntakeTranslation2dRedBottom = Translation2d(1.214, 1.111)
     val coralIntakeRotation2dRedBottom = Rotation2d(radians(-125)) // in radians
     val coralIntakePoseRedBottom = Pose2d(coralIntakeTranslation2dRedBottom, coralIntakeRotation2dRedBottom)
 
-
-    //net pose values
+    // net pose values
     val centerOfField = 8.808
-    val netTranslationDistance: Double = 2.152;
-    //BLUE
+    val netTranslationDistance: Double = 2.152
+
+    // BLUE
     val netRotation2dBlue = Rotation2d(0.9) // in radians
-    //RED
-    val netRotation2dRed = Rotation2d(Math.PI) // in radians
 
+    // RED
+    val netRotation2dRed = Rotation2d(Math.PI) // in radians
 
-    //Reef pose translations are in meters (round to 3 decimal places)
-    //Reef pose angles are in radians
-    //BLUE
-    //reef 1st pose values
+    // Reef pose translations are in meters (round to 3 decimal places)
+    // Reef pose angles are in radians
+    // BLUE
+    // reef 1st pose values
     val reef1Translation2dBlue = Translation2d(4.906, 5.1359)
-    //RADIANS
+
+    // RADIANS
     val reef1Rotation2dBlue = Rotation2d(radians(240))
     val reef1PoseBlue = Pose2d(reef1Translation2dBlue, reef1Rotation2dBlue)
 
-    //reef 2nd pose values
+    // reef 2nd pose values
     val reef2Translation2dBlue = Translation2d(5.239, 4.978)
-    //RADIANS
+
+    // RADIANS
     val reef2Rotation2dBlue = Rotation2d(radians(240))
     val reef2PoseBlue = Pose2d(reef2Translation2dBlue, reef2Rotation2dBlue)
 
-    //reef 3rd pose values
+    // reef 3rd pose values
     val reef3Translation2dBlue = Translation2d(5.851, 4.156)
-    //RADIANS
+
+    // RADIANS
     val reef3Rotation2dBlue = Rotation2d(radians(180))
     val reef3PoseBlue = Pose2d(reef3Translation2dBlue, reef3Rotation2dBlue)
 
-    //reef 4th pose values
+    // reef 4th pose values
     val reef4Translation2dBlue = Translation2d(5.851, 3.876)
-    //RADIANS
+
+    // RADIANS
     val reef4Rotation2dBlue = Rotation2d(radians(180))
     val reef4PoseBlue = Pose2d(reef4Translation2dBlue, reef4Rotation2dBlue)
 
-    //reef 5th pose values
+    // reef 5th pose values
     val reef5Translation2dBlue = Translation2d(5.291, 2.966)
-    //RADIANS
+
+    // RADIANS
     val reef5Rotation2dBlue = Rotation2d(radians(120))
     val reef5PoseBlue = Pose2d(reef5Translation2dBlue, reef5Rotation2dBlue)
 
-    //reef 6th pose values
-    val reef6Translation2dBlue= Translation2d(5.011, 2.809)
-    //RADIANS
+    // reef 6th pose values
+    val reef6Translation2dBlue = Translation2d(5.011, 2.809)
+
+    // RADIANS
     val reef6Rotation2dBlue = Rotation2d(radians(120))
     val reef6PoseBlue = Pose2d(reef6Translation2dBlue, reef6Rotation2dBlue)
 
-    //reef 7th pose values
+    // reef 7th pose values
     val reef7Translation2dBlue = Translation2d(3.979, 2.809)
-    //RADIANS
+
+    // RADIANS
     val reef7Rotation2dBlue = Rotation2d(radians(60))
     val reef7PoseBlue = Pose2d(reef7Translation2dBlue, reef7Rotation2dBlue)
 
-    //reef 8th pose values
+    // reef 8th pose values
     val reef8Translation2dBlue = Translation2d(3.700, 2.966)
-    //RADIANS
+
+    // RADIANS
     val reef8Rotation2dBlue = Rotation2d(radians(60))
     val reef8PoseBlue = Pose2d(reef8Translation2dBlue, reef8Rotation2dBlue)
 
-    //reef 9th pose values
+    // reef 9th pose values
     val reef9Translation2dBlue = Translation2d(3.174, 3.876)
-    //RADIANS
+
+    // RADIANS
     val reef9Rotation2dBlue = Rotation2d((radians(0)))
     val reef9PoseBlue = Pose2d(reef9Translation2dBlue, reef9Rotation2dBlue)
 
-    //reef 10th pose values
+    // reef 10th pose values
     val reef10Translation2dBlue = Translation2d(3.174, 4.173)
-    //RADIANS
+
+    // RADIANS
     val reef10Rotation2dBlue = Rotation2d(radians(0))
     val reef10PoseBlue = Pose2d(reef10Translation2dBlue, reef10Rotation2dBlue)
 
-    //reef 11th pose values
+    // reef 11th pose values
     val reef11Translation2dBlue = Translation2d(3.7340, 4.9601)
-    //RADIANS
+
+    // RADIANS
     val reef11Rotation2dBlue = Rotation2d(radians(-60))
 
     val reef11PoseBlue = Pose2d(reef11Translation2dBlue, reef11Rotation2dBlue)
 
-    //reef 12th pose values
+    // reef 12th pose values
     val reef12Translation2dBlue = Translation2d(4.0490, 5.153)
-    //RADIANS
+
+    // RADIANS
     val reef12Rotation2dBlue = Rotation2d(radians(-60))
     val reef12PoseBlue = Pose2d(reef12Translation2dBlue, reef12Rotation2dBlue)
 
-
-
-    //RED
-    //reef 1st pose values
+    // RED
+    // reef 1st pose values
     val reef1Translation2dRed = Translation2d(13.549, 5.136)
-    //RADIANS
+
+    // RADIANS
     val reef1Rotation2dRed = Rotation2d(radians(240))
     val reef1PoseRed = Pose2d(reef1Translation2dRed, reef1Rotation2dRed)
 
-    //reef 2nd pose values
+    // reef 2nd pose values
     val reef2Translation2dRed = Translation2d(13.794, 4.943)
-    //RADIANS
+
+    // RADIANS
     val reef2Rotation2dRed = Rotation2d(radians(240))
     val reef2PoseRed = Pose2d(reef2Translation2dRed, reef2Rotation2dRed)
 
-    //reef 3rd pose values
+    // reef 3rd pose values
     val reef3Translation2dRed = Translation2d(14.301, 4.121)
-    //RADIANS
+
+    // RADIANS
     val reef3Rotation2dRed = Rotation2d(radians(180))
     val reef3PoseRed = Pose2d(reef3Translation2dRed, reef3Rotation2dRed)
 
-    //reef 4th pose values
+    // reef 4th pose values
     val reef4Translation2dRed = Translation2d(14.267, 3.859)
-    //RADIANS
+
+    // RADIANS
     val reef4Rotation2dRed = Rotation2d(radians(180))
     val reef4PoseRed = Pose2d(reef4Translation2dRed, reef4Rotation2dRed)
 
-    //reef 5th pose values
+    // reef 5th pose values
     val reef5Translation2dRed = Translation2d(13.864, 2.966)
-    //RADIANS
+
+    // RADIANS
     val reef5Rotation2dRed = Rotation2d(radians(120))
     val reef5PoseRed = Pose2d(reef5Translation2dRed, reef5Rotation2dRed)
 
-    //reef 6th pose values
-    val reef6Translation2dRed= Translation2d(13.601, 2.809)
-    //RADIANS
+    // reef 6th pose values
+    val reef6Translation2dRed = Translation2d(13.601, 2.809)
+
+    // RADIANS
     val reef6Rotation2dRed = Rotation2d(radians(120))
     val reef6PoseRed = Pose2d(reef6Translation2dRed, reef6Rotation2dRed)
 
-    //reef 7th pose values
+    // reef 7th pose values
     val reef7Translation2dRed = Translation2d(12.534, 2.809)
-    //RADIANS
+
+    // RADIANS
     val reef7Rotation2dRed = Rotation2d(radians(60))
     val reef7PoseRed = Pose2d(reef7Translation2dRed, reef7Rotation2dRed)
 
-    //reef 8th pose values
+    // reef 8th pose values
     val reef8Translation2dRed = Translation2d(12.237, 2.966)
-    //RADIANS
+
+    // RADIANS
     val reef8Rotation2dRed = Rotation2d(radians(60))
     val reef8PoseRed = Pose2d(reef8Translation2dRed, reef8Rotation2dRed)
 
-    //reef 9th pose values
+    // reef 9th pose values
     val reef9Translation2dRed = Translation2d(11.730, 3.876)
-    //RADIANS
+
+    // RADIANS
     val reef9Rotation2dRed = Rotation2d((radians(0)))
     val reef9PoseRed = Pose2d(reef9Translation2dRed, reef9Rotation2dRed)
 
-    //reef 10th pose values
+    // reef 10th pose values
     val reef10Translation2dRed = Translation2d(11.730, 4.173)
-    //RADIANS
+
+    // RADIANS
     val reef10Rotation2dRed = Rotation2d(radians(0))
     val reef10PoseRed = Pose2d(reef10Translation2dRed, reef10Rotation2dRed)
 
-    //reef 11th pose values
+    // reef 11th pose values
     val reef11Translation2dRed = Translation2d(12.307, 4.995)
-    //RADIANS
+
+    // RADIANS
     val reef11Rotation2dRed = Rotation2d(radians(-60))
     val reef11PoseRed = Pose2d(reef11Translation2dRed, reef11Rotation2dRed)
 
-    //reef 12th pose values
+    // reef 12th pose values
     val reef12Translation2dRed = Translation2d(12.604, 5.171)
-    //RADIANS
+
+    // RADIANS
     val reef12Rotation2dRed = Rotation2d(radians(-60))
     val reef12PoseRed = Pose2d(reef12Translation2dRed, reef12Rotation2dRed)
-
   }
-
-}
+}