ministry of truth

FRC-Team-1710 · Mar 13, 2024 · 012fcac · 012fcac
1 parent ed626fe
commit 012fcac
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Showing 38 changed files with 756 additions and 523 deletions.
diff --git a/build.gradle b/build.gradle
@@ -127,10 +127,10 @@ spotless {
             include '**/*.java'
             exclude '**/build/**', '**/build-*/**'
         }
-        toggleOffOn()
         palantirJavaFormat().style("AOSP")
         removeUnusedImports()
         trimTrailingWhitespace()
+        toggleOffOn()
     }
 
     groovyGradle {

diff --git a/src/main/java/frc/lib/math/Conversions.java b/src/main/java/frc/lib/math/Conversions.java
@@ -1,13 +1,13 @@
 package frc.lib.math;
 
 public class Conversions {
-    
+
     /**
      * @param wheelRPS Wheel Velocity: (in Rotations per Second)
      * @param circumference Wheel Circumference: (in Meters)
      * @return Wheel Velocity: (in Meters per Second)
      */
-    public static double RPSToMPS(double wheelRPS, double circumference){
+    public static double RPSToMPS(double wheelRPS, double circumference) {
         double wheelMPS = wheelRPS * circumference;
         return wheelMPS;
     }
@@ -17,7 +17,7 @@ public static double RPSToMPS(double wheelRPS, double circumference){
      * @param circumference Wheel Circumference: (in Meters)
      * @return Wheel Velocity: (in Rotations per Second)
      */
-    public static double MPSToRPS(double wheelMPS, double circumference){
+    public static double MPSToRPS(double wheelMPS, double circumference) {
         double wheelRPS = wheelMPS / circumference;
         return wheelRPS;
     }
@@ -27,7 +27,7 @@ public static double MPSToRPS(double wheelMPS, double circumference){
      * @param circumference Wheel Circumference: (in Meters)
      * @return Wheel Distance: (in Meters)
      */
-    public static double rotationsToMeters(double wheelRotations, double circumference){
+    public static double rotationsToMeters(double wheelRotations, double circumference) {
         double wheelMeters = wheelRotations * circumference;
         return wheelMeters;
     }
@@ -37,8 +37,8 @@ public static double rotationsToMeters(double wheelRotations, double circumferen
      * @param circumference Wheel Circumference: (in Meters)
      * @return Wheel Position: (in Rotations)
      */
-    public static double metersToRotations(double wheelMeters, double circumference){
+    public static double metersToRotations(double wheelMeters, double circumference) {
         double wheelRotations = wheelMeters / circumference;
         return wheelRotations;
     }
-}
+}
diff --git a/src/main/java/frc/lib/math/FiringSolutions.java b/src/main/java/frc/lib/math/FiringSolutions.java
@@ -1,5 +1,5 @@
 package frc.lib.math;
-// format:off
+// spotless:off
 public final class FiringSolutions {
     private static final double shooterHeight = 0.355;
     private static final double noteFallAccel = 9.8;
@@ -86,5 +86,5 @@ public static double getShooterAngle(double shooterVelocityX, double shooterVelo
     public static double getRobotOffsetAngle(double robotVelocityPerpendicularToSpeaker, double shooterVelocityX){
         return Math.atan(robotVelocityPerpendicularToSpeaker / shooterVelocityX);
     }
-
+// spotless:on
 }
diff --git a/src/main/java/frc/lib/math/FiringSolutionsV2.java b/src/main/java/frc/lib/math/FiringSolutionsV2.java
@@ -1,5 +1,5 @@
 package frc.lib.math;
-// format:off
+// spotless:off
 public class FiringSolutionsV2 {
 
     private static final double shooterHeight = 0.355;
@@ -141,5 +141,5 @@ public static double getR() {
     public static double getShooterAngle() {
         return Math.acos(R);
     }
-
+// spotless:on
 }
diff --git a/src/main/java/frc/lib/math/FiringSolutionsV3.java b/src/main/java/frc/lib/math/FiringSolutionsV3.java
@@ -1,5 +1,5 @@
 package frc.lib.math;
-// format:off
+// spotless:off
 import java.util.Optional;
 
 import edu.wpi.first.math.geometry.Translation2d;
@@ -346,5 +346,5 @@ public static double getDistanceToMovingTarget(double robotX, double robotY, dou
     public static double convertToRPM(double velocity) {
         return (60 * velocity) / (slipPercent * Math.PI * .1016);
     }
-
+// spotless:on
 }
diff --git a/src/main/java/frc/lib/math/Interpolations.java b/src/main/java/frc/lib/math/Interpolations.java
@@ -9,25 +9,26 @@
 public class Interpolations {
 
     public InterpolatingDoubleTreeMap shooterSpeeds = new InterpolatingDoubleTreeMap();
-    public InterpolatingDoubleTreeMap bozoDefenseBotDriversHonestReactionWhenElevatorGoUp_speeds = new InterpolatingDoubleTreeMap();
+    public InterpolatingDoubleTreeMap bozoDefenseBotDriversHonestReactionWhenElevatorGoUp_speeds =
+            new InterpolatingDoubleTreeMap();
 
     private double offset = 1;
 
     public Interpolations() {
-         /* 
-        shooterSpeeds.put(1.25, 53.0);
-        shooterSpeeds.put(1.5, 48.0);
-        shooterSpeeds.put(1.75, 44.0);
-        shooterSpeeds.put(2.0, 41.0);
-        shooterSpeeds.put(2.25, 39.0);
-        shooterSpeeds.put(2.5, 37.5);
-        shooterSpeeds.put(2.75, 35.5);
-        shooterSpeeds.put(3.0, 34.0);
-        shooterSpeeds.put(3.25, 33.0);
-        shooterSpeeds.put(3.5, 32.0);
-        shooterSpeeds.put(4.0, 30.75);
-        shooterSpeeds.put(4.5, 29.75);
-*/
+        /*
+                shooterSpeeds.put(1.25, 53.0);
+                shooterSpeeds.put(1.5, 48.0);
+                shooterSpeeds.put(1.75, 44.0);
+                shooterSpeeds.put(2.0, 41.0);
+                shooterSpeeds.put(2.25, 39.0);
+                shooterSpeeds.put(2.5, 37.5);
+                shooterSpeeds.put(2.75, 35.5);
+                shooterSpeeds.put(3.0, 34.0);
+                shooterSpeeds.put(3.25, 33.0);
+                shooterSpeeds.put(3.5, 32.0);
+                shooterSpeeds.put(4.0, 30.75);
+                shooterSpeeds.put(4.5, 29.75);
+        */
         bozoDefenseBotDriversHonestReactionWhenElevatorGoUp_speeds.put(1.25, 44.0);
         bozoDefenseBotDriversHonestReactionWhenElevatorGoUp_speeds.put(1.5, 39.5);
         bozoDefenseBotDriversHonestReactionWhenElevatorGoUp_speeds.put(1.75, 36.0);
@@ -52,7 +53,6 @@ public Interpolations() {
         shooterSpeeds.put(3.25, 31.0 + offset);
         shooterSpeeds.put(3.5, 30.0 + offset);
         shooterSpeeds.put(4.0, 28.25 + offset);
-
     }
 
     public double getShooterAngleFromInterpolation(double distanceToTarget) {
@@ -62,4 +62,4 @@ public double getShooterAngleFromInterpolation(double distanceToTarget) {
     public double getShooterAngleFromInterpolationElevatorUp(double distanceToTarget) {
         return bozoDefenseBotDriversHonestReactionWhenElevatorGoUp_speeds.get(distanceToTarget);
     }
-}
+}
diff --git a/src/main/java/frc/lib/util/COTSTalonFXSwerveConstants.java b/src/main/java/frc/lib/util/COTSTalonFXSwerveConstants.java
@@ -4,7 +4,7 @@
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 
 import edu.wpi.first.math.util.Units;
-
+// spotless:off
 /* Contains values and required settings for common COTS swerve modules. */
 public class COTSTalonFXSwerveConstants {
     public final double wheelDiameter;
@@ -307,5 +307,4 @@ public static final class driveRatios{
         }
     }
 }
-
-
+// spotless:on
diff --git a/src/main/java/frc/lib/util/SwerveModuleConstants.java b/src/main/java/frc/lib/util/SwerveModuleConstants.java
@@ -1,7 +1,7 @@
 package frc.lib.util;
 
 import edu.wpi.first.math.geometry.Rotation2d;
-
+// spotless:off
 public class SwerveModuleConstants {
     public final int driveMotorID;
     public final int angleMotorID;
@@ -22,3 +22,4 @@ public SwerveModuleConstants(int driveMotorID, int angleMotorID, int canCoderID,
         this.angleOffset = angleOffset;
     }
 }
+// spotless:on
diff --git a/src/main/java/frc/robot/CTREConfigs.java b/src/main/java/frc/robot/CTREConfigs.java
@@ -8,7 +8,7 @@ public final class CTREConfigs {
     public TalonFXConfiguration swerveDriveFXConfig = new TalonFXConfiguration();
     public CANcoderConfiguration swerveCANcoderConfig = new CANcoderConfiguration();
 
-    public CTREConfigs(){
+    public CTREConfigs() {
         /** Swerve CANCoder Configuration */
         swerveCANcoderConfig.MagnetSensor.SensorDirection = Constants.Swerve.cancoderInvert;
 
@@ -20,12 +20,15 @@ public CTREConfigs(){
         /* Gear Ratio and Wrapping Config */
         swerveAngleFXConfig.Feedback.SensorToMechanismRatio = Constants.Swerve.angleGearRatio;
         swerveAngleFXConfig.ClosedLoopGeneral.ContinuousWrap = true;
-        
+
         /* Current Limiting */
-        swerveAngleFXConfig.CurrentLimits.SupplyCurrentLimitEnable = Constants.Swerve.angleEnableCurrentLimit;
+        swerveAngleFXConfig.CurrentLimits.SupplyCurrentLimitEnable =
+                Constants.Swerve.angleEnableCurrentLimit;
         swerveAngleFXConfig.CurrentLimits.SupplyCurrentLimit = Constants.Swerve.angleCurrentLimit;
-        swerveAngleFXConfig.CurrentLimits.SupplyCurrentThreshold = Constants.Swerve.angleCurrentThreshold;
-        swerveAngleFXConfig.CurrentLimits.SupplyTimeThreshold = Constants.Swerve.angleCurrentThresholdTime;
+        swerveAngleFXConfig.CurrentLimits.SupplyCurrentThreshold =
+                Constants.Swerve.angleCurrentThreshold;
+        swerveAngleFXConfig.CurrentLimits.SupplyTimeThreshold =
+                Constants.Swerve.angleCurrentThresholdTime;
 
         /* PID Config */
         swerveAngleFXConfig.Slot0.kP = Constants.Swerve.angleKP;
@@ -41,21 +44,27 @@ public CTREConfigs(){
         swerveDriveFXConfig.Feedback.SensorToMechanismRatio = Constants.Swerve.driveGearRatio;
 
         /* Current Limiting */
-        swerveDriveFXConfig.CurrentLimits.SupplyCurrentLimitEnable = Constants.Swerve.driveEnableCurrentLimit;
+        swerveDriveFXConfig.CurrentLimits.SupplyCurrentLimitEnable =
+                Constants.Swerve.driveEnableCurrentLimit;
         swerveDriveFXConfig.CurrentLimits.SupplyCurrentLimit = Constants.Swerve.driveCurrentLimit;
-        swerveDriveFXConfig.CurrentLimits.SupplyCurrentThreshold = Constants.Swerve.driveCurrentThreshold;
-        swerveDriveFXConfig.CurrentLimits.SupplyTimeThreshold = Constants.Swerve.driveCurrentThresholdTime;
+        swerveDriveFXConfig.CurrentLimits.SupplyCurrentThreshold =
+                Constants.Swerve.driveCurrentThreshold;
+        swerveDriveFXConfig.CurrentLimits.SupplyTimeThreshold =
+                Constants.Swerve.driveCurrentThresholdTime;
 
         /* PID Config */
         swerveDriveFXConfig.Slot0.kP = Constants.Swerve.driveKP;
         swerveDriveFXConfig.Slot0.kI = Constants.Swerve.driveKI;
         swerveDriveFXConfig.Slot0.kD = Constants.Swerve.driveKD;
 
         /* Open and Closed Loop Ramping */
-        swerveDriveFXConfig.OpenLoopRamps.DutyCycleOpenLoopRampPeriod = Constants.Swerve.openLoopRamp;
+        swerveDriveFXConfig.OpenLoopRamps.DutyCycleOpenLoopRampPeriod =
+                Constants.Swerve.openLoopRamp;
         swerveDriveFXConfig.OpenLoopRamps.VoltageOpenLoopRampPeriod = Constants.Swerve.openLoopRamp;
 
-        swerveDriveFXConfig.ClosedLoopRamps.DutyCycleClosedLoopRampPeriod = Constants.Swerve.closedLoopRamp;
-        swerveDriveFXConfig.ClosedLoopRamps.VoltageClosedLoopRampPeriod = Constants.Swerve.closedLoopRamp;
+        swerveDriveFXConfig.ClosedLoopRamps.DutyCycleClosedLoopRampPeriod =
+                Constants.Swerve.closedLoopRamp;
+        swerveDriveFXConfig.ClosedLoopRamps.VoltageClosedLoopRampPeriod =
+                Constants.Swerve.closedLoopRamp;
     }
-}
+}