chore: Format.

Gongoliers · Mar 4, 2024 · 1340888 · 1340888
1 parent 69952b1
commit 1340888
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Showing 5 changed files with 44 additions and 52 deletions.
diff --git a/src/main/java/frc/lib/InterpolatableColor.java b/src/main/java/frc/lib/InterpolatableColor.java
@@ -5,27 +5,26 @@
 
 public class InterpolatableColor {
 
-    private final Color zero, one;
+  private final Color zero, one;
 
-    public InterpolatableColor(Color zero, Color one) {
-        this.zero = zero;
-        this.one = one;
-    }
+  public InterpolatableColor(Color zero, Color one) {
+    this.zero = zero;
+    this.one = one;
+  }
 
-    public Color sample(double t) {
-        t = MathUtil.clamp(t, 0, 1);
+  public Color sample(double t) {
+    t = MathUtil.clamp(t, 0, 1);
 
-        double r = zero.red * (1 - t) + one.red * t;
-        double g = zero.green * (1 - t) + one.green * t;
-        double b = zero.blue * (1 - t) + one.blue * t;
-
-        return new Color(r, g, b);
-    }
+    double r = zero.red * (1 - t) + one.red * t;
+    double g = zero.green * (1 - t) + one.green * t;
+    double b = zero.blue * (1 - t) + one.blue * t;
 
-    public Color sample(double x, double min, double max) {
-        double t = x / (max - min);
+    return new Color(r, g, b);
+  }
 
-        return sample(t);
-    }
+  public Color sample(double x, double min, double max) {
+    double t = x / (max - min);
 
+    return sample(t);
+  }
 }
diff --git a/src/main/java/frc/robot/RobotMechanisms.java b/src/main/java/frc/robot/RobotMechanisms.java
@@ -8,8 +8,8 @@
 import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj.util.Color8Bit;
-import frc.robot.arm.ArmConstants.ShoulderMotorConstants;
 import frc.lib.InterpolatableColor;
+import frc.robot.arm.ArmConstants.ShoulderMotorConstants;
 import frc.robot.arm.ArmState;
 import frc.robot.intake.IntakeConstants.PivotMotorConstants;
 import frc.robot.intake.IntakeConstants.RollerMotorConstants;
@@ -36,9 +36,12 @@ public class RobotMechanisms {
 
   private final Color8Bit DEFAULT_COLOR = new Color8Bit(Color.kLightGray);
 
-  private final InterpolatableColor shooterColor = new InterpolatableColor(Color.kLightGray, Color.kSalmon);
-  private final InterpolatableColor serializerColor = new InterpolatableColor(Color.kLightGray, Color.kCornflowerBlue);
-  private final InterpolatableColor intakeColor = new InterpolatableColor(Color.kLightGray, Color.kPaleGreen);
+  private final InterpolatableColor shooterColor =
+      new InterpolatableColor(Color.kLightGray, Color.kSalmon);
+  private final InterpolatableColor serializerColor =
+      new InterpolatableColor(Color.kLightGray, Color.kCornflowerBlue);
+  private final InterpolatableColor intakeColor =
+      new InterpolatableColor(Color.kLightGray, Color.kPaleGreen);
 
   private RobotMechanisms() {
     mechanism = new Mechanism2d(WIDTH, HEIGHT);
@@ -67,20 +70,12 @@ private void initializeArmMechanism() {
     shooter =
         shoulder.append(
             new MechanismLigament2d(
-                "wrist",
-                Units.inchesToMeters(4.321),
-                0,
-                armThickness,
-                DEFAULT_COLOR));
+                "wrist", Units.inchesToMeters(4.321), 0, armThickness, DEFAULT_COLOR));
 
     serializer =
         shoulder.append(
             new MechanismLigament2d(
-                "serializer",
-                Units.inchesToMeters(8.771),
-                0,
-                armThickness,
-                DEFAULT_COLOR));
+                "serializer", Units.inchesToMeters(8.771), 0, armThickness, DEFAULT_COLOR));
   }
 
   private void initializeFramePerimeterMechanisms() {
@@ -93,11 +88,7 @@ private void initializeFramePerimeterMechanisms() {
             0)
         .append(
             new MechanismLigament2d(
-                "framePerimeterLeft_",
-                HEIGHT,
-                90,
-                framePerimeterThickness,
-                DEFAULT_COLOR));
+                "framePerimeterLeft_", HEIGHT, 90, framePerimeterThickness, DEFAULT_COLOR));
 
     mechanism
         .getRoot(
@@ -106,11 +97,7 @@ private void initializeFramePerimeterMechanisms() {
             0)
         .append(
             new MechanismLigament2d(
-                "framePerimeterRight_",
-                HEIGHT,
-                90,
-                framePerimeterThickness,
-                DEFAULT_COLOR));
+                "framePerimeterRight_", HEIGHT, 90, framePerimeterThickness, DEFAULT_COLOR));
   }
 
   private void initializeIntakeMechanism() {
@@ -124,11 +111,7 @@ private void initializeIntakeMechanism() {
                 ORIGIN.getY() + Units.inchesToMeters(6.283))
             .append(
                 new MechanismLigament2d(
-                    "intake_",
-                    PivotMotorConstants.DISTANCE,
-                    0.0,
-                    intakeThickness,
-                    DEFAULT_COLOR));
+                    "intake_", PivotMotorConstants.DISTANCE, 0.0, intakeThickness, DEFAULT_COLOR));
   }
 
   public static RobotMechanisms getInstance() {
@@ -149,7 +132,8 @@ public void updateArm(ArmState state) {
 
     shoulder.setAngle(shoulderRotation);
 
-    // Offset the rendered wrist rotation so that zero degrees is perpendicular to the shoulder, rather than parallel with the shoulder
+    // Offset the rendered wrist rotation so that zero degrees is perpendicular to the shoulder,
+    // rather than parallel with the shoulder
     Rotation2d offsetWristRotation = wristRotation.plus(Rotation2d.fromDegrees(90));
     Rotation2d shooterRotation = offsetWristRotation;
     Rotation2d serializerRotation = offsetWristRotation.plus(Rotation2d.fromDegrees(180));
@@ -159,20 +143,26 @@ public void updateArm(ArmState state) {
   }
 
   public void updateIntake(Rotation2d pivotAngle, double rollerVelocityRotationsPerSecond) {
-    Color color = intakeColor.sample(Math.abs(rollerVelocityRotationsPerSecond), 0, RollerMotorConstants.MAXIMUM_SPEED);
+    Color color =
+        intakeColor.sample(
+            Math.abs(rollerVelocityRotationsPerSecond), 0, RollerMotorConstants.MAXIMUM_SPEED);
 
     intake.setAngle(pivotAngle);
     intake.setColor(new Color8Bit(color));
   }
 
   public void updateShooter(double velocityMetersPerSecond) {
-    Color color = shooterColor.sample(Math.abs(velocityMetersPerSecond), 0, FlywheelConstants.MAXIMUM_TANGENTIAL_SPEED);
+    Color color =
+        shooterColor.sample(
+            Math.abs(velocityMetersPerSecond), 0, FlywheelConstants.MAXIMUM_TANGENTIAL_SPEED);
 
     shooter.setColor(new Color8Bit(color));
   }
 
   public void updateSerializer(double velocityMetersPerSecond) {
-    Color color = serializerColor.sample(Math.abs(velocityMetersPerSecond), 0, SerializerConstants.MAXIMUM_TANGENTIAL_SPEED);
+    Color color =
+        serializerColor.sample(
+            Math.abs(velocityMetersPerSecond), 0, SerializerConstants.MAXIMUM_TANGENTIAL_SPEED);
 
     serializer.setColor(new Color8Bit(color));
   }

diff --git a/src/main/java/frc/robot/arm/ShoulderMotorIOSim.java b/src/main/java/frc/robot/arm/ShoulderMotorIOSim.java
@@ -24,7 +24,8 @@ public void configure() {}
   public void update(ShoulderMotorIOValues values) {
     values.positionRotations = this.positionRotations;
     values.velocityRotationsPerSecond = this.velocityRotationsPerSecond;
-    values.accelerationRotationsPerSecondPerSecond = accelerationCalculator.calculate(velocityRotationsPerSecond);
+    values.accelerationRotationsPerSecondPerSecond =
+        accelerationCalculator.calculate(velocityRotationsPerSecond);
 
     values.inputVoltage = inputVoltage;
   }

diff --git a/src/main/java/frc/robot/intake/Intake.java b/src/main/java/frc/robot/intake/Intake.java
@@ -94,7 +94,8 @@ public void periodic() {
 
     rollerMotorCurrentFilter.calculate(rollerMotorValues.currentAmps);
 
-    mechanism.updateIntake(Rotation2d.fromRotations(pivotMotorValues.positionRotations), getRollerVelocity());
+    mechanism.updateIntake(
+        Rotation2d.fromRotations(pivotMotorValues.positionRotations), getRollerVelocity());
   }
 
   @Override

diff --git a/src/main/java/frc/robot/intake/PivotMotorIOSim.java b/src/main/java/frc/robot/intake/PivotMotorIOSim.java
@@ -6,6 +6,7 @@
 public class PivotMotorIOSim implements PivotMotorIO {
 
   private double positionRotations;
+
   // private double velocityRotationsPerSecond;
 
   @Override