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TitaniumTigers4829 · Aug 9, 2024 · b64d75a · b64d75a
1 parent 51f121e
commit b64d75a
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Showing 2 changed files with 21 additions and 16 deletions.
diff --git a/src/main/java/frc/robot/extras/TalonUtil.java b/src/main/java/frc/robot/extras/TalonUtil.java
@@ -1,30 +1,29 @@
 // somewhat inspired by 254
 package frc.robot.extras;
 
-import java.util.function.Supplier;
-
 import com.ctre.phoenix.ErrorCode;
 import com.ctre.phoenix6.StatusCode;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.wpilibj.DriverStation;
+import java.util.function.Supplier;
 
 public class TalonUtil {
 
   public static boolean applyAndCheckConfiguration(
       TalonFX talon, TalonFXConfiguration config, double timeoutSeconds, int numTries) {
     for (int i = 0; i < numTries; i++) {
       if (checkErrorAndRetry(() -> talon.getConfigurator().apply(config, timeoutSeconds))) {
-            return true;
-        } 
-      } 
-      DriverStation.reportError(
-        "Failed to apply config for talon after " + numTries + " attempts", false);
-      return false;
+        return true;
+      }
     }
-
+    DriverStation.reportError(
+        "Failed to apply config for talon after " + numTries + " attempts", false);
+    return false;
+  }
 
-  public static boolean applyAndCheckConfiguration(TalonFX talon, TalonFXConfiguration config, double timeoutMs) {
+  public static boolean applyAndCheckConfiguration(
+      TalonFX talon, TalonFXConfiguration config, double timeoutMs) {
     boolean result = applyAndCheckConfiguration(talon, config, timeoutMs, 5);
     return result;
   }
@@ -67,7 +66,7 @@ public static void checkStickyFaults(String subsystemName, TalonFX talon) {
     talon.clearStickyFaults();
   }
 
-    /**
+  /**
    * checks the specified error code for issues
    *
    * @param errorCode error code

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -59,8 +59,11 @@ public ShooterSubsystem() {
 
   private void configureTalons() throws RuntimeException {
     TalonFXConfiguration shooterConfig = new TalonFXConfiguration();
-    TalonUtil.checkErrorAndRetry(() -> leaderFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S));
-    TalonUtil.checkErrorAndRetry(() -> followerFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S));
+    TalonUtil.checkErrorAndRetry(
+        () -> leaderFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S));
+    TalonUtil.checkErrorAndRetry(
+        () ->
+            followerFlywheel.getConfigurator().refresh(shooterConfig, HardwareConstants.TIMEOUT_S));
 
     shooterConfig.Slot0.kP = ShooterConstants.SHOOT_P;
     shooterConfig.Slot0.kI = ShooterConstants.SHOOT_I;
@@ -77,12 +80,15 @@ private void configureTalons() throws RuntimeException {
     shooterConfig.CurrentLimits.SupplyCurrentLimit = ShooterConstants.SHOOTER_SUPPLY_LIMIT;
     shooterConfig.CurrentLimits.SupplyCurrentLimitEnable = ShooterConstants.SHOOTER_SUPPLY_ENABLE;
 
-    TalonUtil.applyAndCheckConfiguration(leaderFlywheel, shooterConfig, HardwareConstants.TIMEOUT_S);
+    TalonUtil.applyAndCheckConfiguration(
+        leaderFlywheel, shooterConfig, HardwareConstants.TIMEOUT_S);
     shooterConfig.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-    TalonUtil.applyAndCheckConfiguration(followerFlywheel, shooterConfig, HardwareConstants.TIMEOUT_S);
+    TalonUtil.applyAndCheckConfiguration(
+        followerFlywheel, shooterConfig, HardwareConstants.TIMEOUT_S);
 
     TalonFXConfiguration rollerConfig = new TalonFXConfiguration();
-    TalonUtil.checkErrorAndRetry(() -> leaderFlywheel.getConfigurator().refresh(rollerConfig, HardwareConstants.TIMEOUT_S));
+    TalonUtil.checkErrorAndRetry(
+        () -> leaderFlywheel.getConfigurator().refresh(rollerConfig, HardwareConstants.TIMEOUT_S));
 
     rollerConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
     rollerConfig.MotorOutput.DutyCycleNeutralDeadband = HardwareConstants.MIN_FALCON_DEADBAND;