chore: Format.

src/main/java/frc/robot/swerve/AzimuthEncoderIO.java

@@ -3,17 +3,16 @@
 /** Azimuth encoder hardware interface. */
 public interface AzimuthEncoderIO {
 
-    /** Values for the azimuth encoder hardware interface. */
-    public static class AzimuthEncoderIOValues {
-        /** Position of the azimuth encoder in rotations.  */
-        public double angleRotations = 0.0;
-    }
+  /** Values for the azimuth encoder hardware interface. */
+  public static class AzimuthEncoderIOValues {
+    /** Position of the azimuth encoder in rotations. */
+    public double angleRotations = 0.0;
+  }
 
-    /**
-     * Updates the azimuth encoder's values.
-     *
-     * @param values
-     */
-    public void update(AzimuthEncoderIOValues values);
-
+  /**
+   * Updates the azimuth encoder's values.
+   *
+   * @param values
+   */
+  public void update(AzimuthEncoderIOValues values);
 }

src/main/java/frc/robot/swerve/AzimuthEncoderIOSim.java

@@ -3,9 +3,8 @@
 /** Simulated azimuth encoder. */
 public class AzimuthEncoderIOSim implements AzimuthEncoderIO {
 
-    @Override
-    public void update(AzimuthEncoderIOValues values) {
-        values.angleRotations = 0.0;
-    }
-
+  @Override
+  public void update(AzimuthEncoderIOValues values) {
+    values.angleRotations = 0.0;
+  }
 }

src/main/java/frc/robot/swerve/DriveMotorIO.java

@@ -3,33 +3,33 @@
 /** Drive motor hardware interface. */
 public interface DriveMotorIO {
 
-    /** Values for the drive motor hardware interface. */
-    public static class DriveMotorIOValues {
-        /** Position of the drive motor in meters. */
-        public double positionMeters = 0.0;
+  /** Values for the drive motor hardware interface. */
+  public static class DriveMotorIOValues {
+    /** Position of the drive motor in meters. */
+    public double positionMeters = 0.0;
 
-        /** Velocity of the drive motor in meters per second. */
-        public double velocityMetersPerSecond = 0.0;
-    }
+    /** Velocity of the drive motor in meters per second. */
+    public double velocityMetersPerSecond = 0.0;
+  }
 
-    /**
-     * Updates the drive motor's values.
-     *
-     * @param values
-     */
-    public void update(DriveMotorIOValues values);
+  /**
+   * Updates the drive motor's values.
+   *
+   * @param values
+   */
+  public void update(DriveMotorIOValues values);
 
-    /**
-     * Sets the drive motor's position.
-     * 
-     * @param positionMeters the drive motor's position.
-     */
-    public void setPosition(double positionMeters);
+  /**
+   * Sets the drive motor's position.
+   *
+   * @param positionMeters the drive motor's position.
+   */
+  public void setPosition(double positionMeters);
 
-    /**
-     * Sets the drive motor's setpoint.
-     * 
-     * @param velocityMetersPerSecond the drive motor's setpoint.
-     */
-    public void setSetpoint(double velocityMetersPerSecond);
+  /**
+   * Sets the drive motor's setpoint.
+   *
+   * @param velocityMetersPerSecond the drive motor's setpoint.
+   */
+  public void setSetpoint(double velocityMetersPerSecond);
 }

src/main/java/frc/robot/swerve/DriveMotorIOSim.java

@@ -5,28 +5,27 @@
 /** Simulated drive motor. */
 public class DriveMotorIOSim implements DriveMotorIO {
 
-    /** Represents the position of the drive motor. */
-    private double positionMeters; 
+  /** Represents the position of the drive motor. */
+  private double positionMeters;
 
-    /** Represents the velocity of the drive motor. */
-    private double velocityMetersPerSecond;
+  /** Represents the velocity of the drive motor. */
+  private double velocityMetersPerSecond;
 
-    @Override
-    public void update(DriveMotorIOValues values) {
-        this.positionMeters += velocityMetersPerSecond * RobotConstants.TICK_PERIOD;
+  @Override
+  public void update(DriveMotorIOValues values) {
+    this.positionMeters += velocityMetersPerSecond * RobotConstants.TICK_PERIOD;
 
-        values.positionMeters = positionMeters;
-        values.velocityMetersPerSecond = velocityMetersPerSecond;
-    }
+    values.positionMeters = positionMeters;
+    values.velocityMetersPerSecond = velocityMetersPerSecond;
+  }
 
-    @Override
-    public void setPosition(double positionMeters) {
-        this.positionMeters = positionMeters;
-    }
-
-    @Override
-    public void setSetpoint(double velocityMetersPerSecond) {
-        this.velocityMetersPerSecond = velocityMetersPerSecond;
-    } 
+  @Override
+  public void setPosition(double positionMeters) {
+    this.positionMeters = positionMeters;
+  }
 
+  @Override
+  public void setSetpoint(double velocityMetersPerSecond) {
+    this.velocityMetersPerSecond = velocityMetersPerSecond;
+  }
 }

src/main/java/frc/robot/swerve/SteerMotorIO.java

@@ -3,33 +3,33 @@
 /** Steer motor hardware interface. */
 public interface SteerMotorIO {
 
-    /** Values for the steer motor hardware interface. */
-    public static class SteerMotorIOValues {
-        /** Position of the steer motor in rotations.  */
-        public double angleRotations = 0.0;
-        /** Velocity of the steer motor in rotations per second.  */
-        public double omegaRotationsPerSecond = 0.0;
-    }
+  /** Values for the steer motor hardware interface. */
+  public static class SteerMotorIOValues {
+    /** Position of the steer motor in rotations. */
+    public double angleRotations = 0.0;
 
-    /**
-     * Updates the steer motor's values.
-     *
-     * @param values
-     */
-    public void update(SteerMotorIOValues values);
+    /** Velocity of the steer motor in rotations per second. */
+    public double omegaRotationsPerSecond = 0.0;
+  }
 
-    /**
-     * Sets the steer motor's position.
-     * 
-     * @param angleRotations the steer motor's position.
-     */
-    public void setPosition(double angleRotations);
+  /**
+   * Updates the steer motor's values.
+   *
+   * @param values
+   */
+  public void update(SteerMotorIOValues values);
 
-    /**
-     * Sets the steer motor's setpoint.
-     * 
-     * @param angleRotations the steer motor's setpoint.
-     */
-    public void setSetpoint(double angleRotations);
-
+  /**
+   * Sets the steer motor's position.
+   *
+   * @param angleRotations the steer motor's position.
+   */
+  public void setPosition(double angleRotations);
+
+  /**
+   * Sets the steer motor's setpoint.
+   *
+   * @param angleRotations the steer motor's setpoint.
+   */
+  public void setSetpoint(double angleRotations);
 }

src/main/java/frc/robot/swerve/SteerMotorIOSim.java

@@ -9,48 +9,46 @@
 /** Simulated steer motor. */
 public class SteerMotorIOSim implements SteerMotorIO {
 
-    /** Represents the motor used to steer the wheel. */
-    private final DCMotor motorSim = DCMotor.getFalcon500(1); // TODO
+  /** Represents the motor used to steer the wheel. */
+  private final DCMotor motorSim = DCMotor.getFalcon500(1); // TODO
 
-    /** Represents the wheel steered by the motor. */
-    private final FlywheelSim wheelSim = new FlywheelSim(motorSim, MK4iConstants.STEER_GEARING, MK4iConstants.STEER_MOI);
+  /** Represents the wheel steered by the motor. */
+  private final FlywheelSim wheelSim =
+      new FlywheelSim(motorSim, MK4iConstants.STEER_GEARING, MK4iConstants.STEER_MOI);
 
-    /** Represents the angle of the steer motor. */
-    private double angleRotations;
+  /** Represents the angle of the steer motor. */
+  private double angleRotations;
 
-    /** Feedback controller for the angle. */
-    private final PIDController angleController = new PIDController(1.0, 0, 0);
+  /** Feedback controller for the angle. */
+  private final PIDController angleController = new PIDController(1.0, 0, 0);
 
-    public SteerMotorIOSim() {
-        angleRotations = 0.0;
+  public SteerMotorIOSim() {
+    angleRotations = 0.0;
 
-        angleController.enableContinuousInput(0, 1);
-    }
+    angleController.enableContinuousInput(0, 1);
+  }
 
-    @Override
-    public void update(SteerMotorIOValues values) {
-        double voltage = angleController.calculate(angleRotations);
+  @Override
+  public void update(SteerMotorIOValues values) {
+    double voltage = angleController.calculate(angleRotations);
 
-        wheelSim.setInputVoltage(voltage);
-        wheelSim.update(RobotConstants.TICK_PERIOD);
+    wheelSim.setInputVoltage(voltage);
+    wheelSim.update(RobotConstants.TICK_PERIOD);
 
-        double omegaRotationsPerSecond = wheelSim.getAngularVelocityRPM() / 60.0;
-        angleRotations += omegaRotationsPerSecond;
+    double omegaRotationsPerSecond = wheelSim.getAngularVelocityRPM() / 60.0;
+    angleRotations += omegaRotationsPerSecond;
 
-        values.angleRotations = angleRotations;
-        values.omegaRotationsPerSecond = omegaRotationsPerSecond;
-    }
-
-    @Override
-    public void setPosition(double angleRotations) {
-        this.angleRotations = 0.0;
-    }
-
-    @Override
-    public void setSetpoint(double angleRotations) {
-        angleController.setSetpoint(angleRotations);
-    }
-
+    values.angleRotations = angleRotations;
+    values.omegaRotationsPerSecond = omegaRotationsPerSecond;
+  }
 
+  @Override
+  public void setPosition(double angleRotations) {
+    this.angleRotations = 0.0;
+  }
 
+  @Override
+  public void setSetpoint(double angleRotations) {
+    angleController.setSetpoint(angleRotations);
+  }
 }