Changes from WPI day 2

Mechanical-Advantage · Feb 11, 2024 · 1026b3e · 1026b3e
1 parent cd9294d
commit 1026b3e
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Showing 83 changed files with 5,568 additions and 5,555 deletions.
diff --git a/build.gradle b/build.gradle
@@ -233,8 +233,6 @@ spotless {
         toggleOffOn()
         googleJavaFormat()
         removeUnusedImports()
-        indentWithTabs(2)
-        indentWithSpaces(4)
         trimTrailingWhitespace()
         endWithNewline()
     }

diff --git a/src/main/deploy/trajectories/.gitkeep b/src/main/deploy/trajectories/.gitkeep
diff --git a/src/main/deploy/trajectories/driveStraight.pathblob b/src/main/deploy/trajectories/driveStraight.pathblob
diff --git a/src/main/java/org/littletonrobotics/frc2024/Constants.java b/src/main/java/org/littletonrobotics/frc2024/Constants.java
@@ -26,59 +26,59 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-    public static final int loopPeriodMs = 20;
-    private static RobotType robotType = RobotType.SIMBOT;
-    public static final boolean tuningMode = true;
+  public static final int loopPeriodMs = 20;
+  private static RobotType robotType = RobotType.DEVBOT;
+  public static final boolean tuningMode = true;
 
-    private static boolean invalidRobotAlertSent = false;
+  private static boolean invalidRobotAlertSent = false;
 
-    public static RobotType getRobot() {
-        if (!disableHAL && RobotBase.isReal() && robotType == RobotType.SIMBOT) {
-            new Alert("Invalid Robot Selected, using COMPBOT as default", Alert.AlertType.ERROR)
-                    .set(true);
-            invalidRobotAlertSent = true;
-            robotType = RobotType.COMPBOT;
-        }
-        return robotType;
+  public static RobotType getRobot() {
+    if (!disableHAL && RobotBase.isReal() && robotType == RobotType.SIMBOT) {
+      new Alert("Invalid Robot Selected, using COMPBOT as default", Alert.AlertType.ERROR)
+          .set(true);
+      invalidRobotAlertSent = true;
+      robotType = RobotType.COMPBOT;
     }
+    return robotType;
+  }
 
-    public static Mode getMode() {
-        return switch (robotType) {
-            case DEVBOT, COMPBOT -> RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
-            case SIMBOT -> Mode.SIM;
-        };
-    }
+  public static Mode getMode() {
+    return switch (robotType) {
+      case DEVBOT, COMPBOT -> RobotBase.isReal() ? Mode.REAL : Mode.REPLAY;
+      case SIMBOT -> Mode.SIM;
+    };
+  }
 
-    public static final Map<RobotType, String> logFolders = Map.of(RobotType.DEVBOT, "/media/sda1/");
+  public static final Map<RobotType, String> logFolders = Map.of(RobotType.DEVBOT, "/media/sda1/");
 
-    public enum Mode {
-        /** Running on a real robot. */
-        REAL,
+  public enum Mode {
+    /** Running on a real robot. */
+    REAL,
 
-        /** Running a physics simulator. */
-        SIM,
+    /** Running a physics simulator. */
+    SIM,
 
-        /** Replaying from a log file. */
-        REPLAY
-    }
+    /** Replaying from a log file. */
+    REPLAY
+  }
 
-    public enum RobotType {
-        SIMBOT,
-        DEVBOT,
-        COMPBOT
-    }
+  public enum RobotType {
+    SIMBOT,
+    DEVBOT,
+    COMPBOT
+  }
 
-    public static boolean disableHAL = false;
+  public static boolean disableHAL = false;
 
-    public static void disableHAL() {
-        disableHAL = true;
-    }
+  public static void disableHAL() {
+    disableHAL = true;
+  }
 
-    /** Checks whether the robot the correct robot is selected when deploying. */
-    public static void main(String... args) {
-        if (robotType == RobotType.SIMBOT) {
-            System.err.println("Cannot deploy, invalid robot selected: " + robotType.toString());
-            System.exit(1);
-        }
+  /** Checks whether the robot the correct robot is selected when deploying. */
+  public static void main(String... args) {
+    if (robotType == RobotType.SIMBOT) {
+      System.err.println("Cannot deploy, invalid robot selected: " + robotType.toString());
+      System.exit(1);
     }
+  }
 }
diff --git a/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java b/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java
@@ -19,81 +19,81 @@
  * Width refers to the <i>y</i> direction (as described by wpilib)
  */
 public class FieldConstants {
-    public static double fieldLength = Units.inchesToMeters(651.223);
-    public static double fieldWidth = Units.inchesToMeters(323.277);
-    public static double wingX = Units.inchesToMeters(229.201);
-    public static double podiumX = Units.inchesToMeters(126.75);
-    public static double startingLineX = Units.inchesToMeters(74.111);
-
-    public static Translation2d ampCenter =
-            new Translation2d(Units.inchesToMeters(72.455), Units.inchesToMeters(322.996));
-
-    /** Staging locations for each note */
-    public static final class StagingLocations {
-        public static double centerlineX = fieldLength / 2.0;
-
-        // need to update
-        public static double centerlineFirstY = Units.inchesToMeters(29.638);
-        public static double centerlineSeparationY = Units.inchesToMeters(66);
-        public static double spikeX = Units.inchesToMeters(114);
-        // need
-        public static double spikeFirstY = Units.inchesToMeters(161.638);
-        public static double spikeSeparationY = Units.inchesToMeters(57);
-
-        public static Translation2d[] centerlineTranslations = new Translation2d[5];
-        public static Translation2d[] spikeTranslations = new Translation2d[3];
-
-        static {
-            for (int i = 0; i < centerlineTranslations.length; i++) {
-                centerlineTranslations[i] =
-                        new Translation2d(centerlineX, centerlineFirstY + (i * centerlineSeparationY));
-            }
-        }
-
-        static {
-            for (int i = 0; i < spikeTranslations.length; i++) {
-                spikeTranslations[i] = new Translation2d(spikeX, spikeFirstY + (i * spikeSeparationY));
-            }
-        }
-    }
+  public static double fieldLength = Units.inchesToMeters(651.223);
+  public static double fieldWidth = Units.inchesToMeters(323.277);
+  public static double wingX = Units.inchesToMeters(229.201);
+  public static double podiumX = Units.inchesToMeters(126.75);
+  public static double startingLineX = Units.inchesToMeters(74.111);
+
+  public static Translation2d ampCenter =
+      new Translation2d(Units.inchesToMeters(72.455), Units.inchesToMeters(322.996));
+
+  /** Staging locations for each note */
+  public static final class StagingLocations {
+    public static double centerlineX = fieldLength / 2.0;
+
+    // need to update
+    public static double centerlineFirstY = Units.inchesToMeters(29.638);
+    public static double centerlineSeparationY = Units.inchesToMeters(66);
+    public static double spikeX = Units.inchesToMeters(114);
+    // need
+    public static double spikeFirstY = Units.inchesToMeters(161.638);
+    public static double spikeSeparationY = Units.inchesToMeters(57);
+
+    public static Translation2d[] centerlineTranslations = new Translation2d[5];
+    public static Translation2d[] spikeTranslations = new Translation2d[3];
 
-    /** Each corner of the speaker * */
-    public static final class Speaker {
-
-        // corners (blue alliance origin)
-        public static Translation3d topRightSpeaker =
-                new Translation3d(
-                        Units.inchesToMeters(18.055),
-                        Units.inchesToMeters(238.815),
-                        Units.inchesToMeters(13.091));
-
-        public static Translation3d topLeftSpeaker =
-                new Translation3d(
-                        Units.inchesToMeters(18.055),
-                        Units.inchesToMeters(197.765),
-                        Units.inchesToMeters(83.091));
-
-        public static Translation3d bottomRightSpeaker =
-                new Translation3d(0.0, Units.inchesToMeters(238.815), Units.inchesToMeters(78.324));
-        public static Translation3d bottomLeftSpeaker =
-                new Translation3d(0.0, Units.inchesToMeters(197.765), Units.inchesToMeters(78.324));
-
-        /** Center of the speaker opening (blue alliance) */
-        public static Translation3d centerSpeakerOpening =
-                new Translation3d(
-                        topLeftSpeaker.getX() / 2.0,
-                        fieldWidth - Units.inchesToMeters(104.0),
-                        (bottomLeftSpeaker.getZ() + bottomRightSpeaker.getZ()) / 2.0);
+    static {
+      for (int i = 0; i < centerlineTranslations.length; i++) {
+        centerlineTranslations[i] =
+            new Translation2d(centerlineX, centerlineFirstY + (i * centerlineSeparationY));
+      }
     }
 
-    public static double aprilTagWidth = Units.inchesToMeters(6.50);
-    public static AprilTagFieldLayout aprilTags;
-
     static {
-        try {
-            aprilTags = AprilTagFieldLayout.loadFromResource(k2024Crescendo.m_resourceFile);
-        } catch (IOException e) {
-            throw new RuntimeException(e);
-        }
+      for (int i = 0; i < spikeTranslations.length; i++) {
+        spikeTranslations[i] = new Translation2d(spikeX, spikeFirstY + (i * spikeSeparationY));
+      }
+    }
+  }
+
+  /** Each corner of the speaker * */
+  public static final class Speaker {
+
+    // corners (blue alliance origin)
+    public static Translation3d topRightSpeaker =
+        new Translation3d(
+            Units.inchesToMeters(18.055),
+            Units.inchesToMeters(238.815),
+            Units.inchesToMeters(13.091));
+
+    public static Translation3d topLeftSpeaker =
+        new Translation3d(
+            Units.inchesToMeters(18.055),
+            Units.inchesToMeters(197.765),
+            Units.inchesToMeters(83.091));
+
+    public static Translation3d bottomRightSpeaker =
+        new Translation3d(0.0, Units.inchesToMeters(238.815), Units.inchesToMeters(78.324));
+    public static Translation3d bottomLeftSpeaker =
+        new Translation3d(0.0, Units.inchesToMeters(197.765), Units.inchesToMeters(78.324));
+
+    /** Center of the speaker opening (blue alliance) */
+    public static Translation3d centerSpeakerOpening =
+        new Translation3d(
+            topLeftSpeaker.getX() / 2.0,
+            fieldWidth - Units.inchesToMeters(104.0),
+            (bottomLeftSpeaker.getZ() + bottomRightSpeaker.getZ()) / 2.0);
+  }
+
+  public static double aprilTagWidth = Units.inchesToMeters(6.50);
+  public static AprilTagFieldLayout aprilTags;
+
+  static {
+    try {
+      aprilTags = AprilTagFieldLayout.loadFromResource(k2024Crescendo.m_resourceFile);
+    } catch (IOException e) {
+      throw new RuntimeException(e);
     }
+  }
 }
diff --git a/src/main/java/org/littletonrobotics/frc2024/Main.java b/src/main/java/org/littletonrobotics/frc2024/Main.java
@@ -21,14 +21,14 @@
  * call.
  */
 public final class Main {
-    private Main() {}
+  private Main() {}
 
-    /**
-     * Main initialization function. Do not perform any initialization here.
-     *
-     * <p>If you change your main robot class, change the parameter type.
-     */
-    public static void main(String... args) {
-        RobotBase.startRobot(Robot::new);
-    }
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
 }