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awtybots · Feb 23, 2024 · 5691fa7 · 5691fa7
1 parent 11eb316
commit 5691fa7
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Showing 2 changed files with 16 additions and 16 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -207,7 +207,10 @@ private void configureButtonBindings() {
         .a()
         .whileTrue(
             Commands.startEnd(
-                () -> sFlywheel.runVelocity(-flywheelSpeedInput.get()), // ! Is the smartdashboard thing permanent? surely not?
+                () ->
+                    sFlywheel.runVelocity(
+                        -flywheelSpeedInput
+                            .get()), // ! Is the smartdashboard thing permanent? surely not?
                 sFlywheel::stop,
                 sFlywheel));
     driverController
@@ -221,7 +224,7 @@ private void configureButtonBindings() {
                 () -> sIntake.runVelocity(-Constants.IntakeConstants.velocity),
                 sIntake::stop,
                 sIntake));
-                
+
     driverController
         .b()
         .whileFalse(Commands.startEnd(() -> sIntake.runVelocity(0), sIntake::stop, sIntake));
@@ -240,20 +243,23 @@ private void configureButtonBindings() {
     operatorController
         .a()
         .whileTrue(
-            Commands.startEnd(() -> sClimber.runTargetPosition(0), sClimber::stop, sClimber)); 
+            Commands.startEnd(() -> sClimber.runTargetPosition(0), sClimber::stop, sClimber));
     operatorController
         .b()
         .whileTrue(
-        Commands.startEnd(() -> sClimber.runTargetPosition(0.55), sClimber::stop, sClimber)); // !Testing numbers
+            Commands.startEnd(
+                () -> sClimber.runTargetPosition(0.55),
+                sClimber::stop,
+                sClimber)); // !Testing numbers
     operatorController
         .x()
-        .whileTrue(
-            Commands.startEnd(() -> sSticks.runTargetAngle(0.0), sSticks::stop, sSticks));
+        .whileTrue(Commands.startEnd(() -> sSticks.runTargetAngle(0.0), sSticks::stop, sSticks));
     operatorController
         .y()
         .whileTrue(
-            Commands.startEnd(() -> sSticks.runTargetAngle(0.5), sSticks::stop, sSticks)); // !Testing numbers
-}
+            Commands.startEnd(
+                () -> sSticks.runTargetAngle(0.5), sSticks::stop, sSticks)); // !Testing numbers
+  }
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.

diff --git a/src/main/java/frc/robot/subsystems/sticks/Sticks.java b/src/main/java/frc/robot/subsystems/sticks/Sticks.java
@@ -13,7 +13,6 @@
 
 package frc.robot.subsystems.sticks;
 
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.EnvironmentalConstants;
@@ -58,10 +57,7 @@ public void runVolts(double volts) {
     io.setVoltage(volts);
   }
 
-  /**
-   *  Run closed loop at the specified velocity. 
-   *  Not used.
-   * */
+  /** Run closed loop at the specified velocity. Not used. */
   // public void runVelocity(double velocityRPM) {
   //   var velocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM);
   //   io.setVelocity(velocityRadPerSec, ffModel.calculate(velocityRadPerSec));
@@ -79,9 +75,7 @@ public void runTargetAngle(double position) {
     io.setTargetAngle(position);
   }
 
-  /**
-    Sets a target velocity.
-  */
+  /** Sets a target velocity. */
   // public void runTargetVelocity(double targetVelocity) {
   //   io.setTargetAngle(
   //       inputs.targetPositionRad