chore: Format.

Gongoliers · Apr 9, 2024 · 8e56beb · 8e56beb
1 parent edf8abf
commit 8e56beb
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Showing 24 changed files with 546 additions and 500 deletions.
diff --git a/src/main/java/frc/lib/controller/PositionControllerIO.java b/src/main/java/frc/lib/controller/PositionControllerIO.java
@@ -7,85 +7,90 @@
 /** Position controller interface. */
 public interface PositionControllerIO {
 
-    /** Position controller constants. */
-    public static class PositionControllerIOConstants {
-        /** Interpret counterclockwise rotation on the motor face as having positive velocity, if set to true. */
-        public boolean ccwPositive = true;
-
-        /** Use the motor to brake the controlled mechanism on neutral output, if set to true. */
-        public boolean neutralBrake = false;
-
-        /** Maximum amount of current, in amps, to provide to the motor. */
-        public double currentLimitAmps = 40.0;
-
-        /** Ratio between the position sensor and the controlled mechanism. */
-        public double sensorToMechanismRatio = 1.0;
-
-        /** Offset between absolute encoder reading and controlled mechanism position in rotations. */
-        public double absoluteEncoderOffsetRotations = 0.0;
-    }
-
-    /** Position controller values. */
-    public static class PositionControllerIOValues {
-        /** Position in rotations. */
-        public double positionRotations = 0.0;
-
-        /** Velocity in rotations per second. */
-        public double velocityRotationsPerSecond = 0.0;
-
-        /** Acceleration in rotations per second per second. */
-        public double accelerationRotationsPerSecondPerSecond = 0.0;
-
-        /** Motor voltage in volts. */
-        public double motorVolts = 0.0;
-
-        /** Motor current in amps. */
-        public double motorAmps = 0.0;
-    }
-
-    /**
-     * Adds position controller values to Shuffleboard.
-     * 
-     * @param tab
-     * @param name
-     * @param values
-     */
-    public static void addToShuffleboard(ShuffleboardTab tab, String name, PositionControllerIOValues values) {
-        ShuffleboardLayout positionController = Telemetry.addColumn(tab, name);
-
-        positionController.addDouble("Position (rot)", () -> values.positionRotations);
-        positionController.addDouble("Velocity (rps)", () -> values.velocityRotationsPerSecond);
-        positionController.addDouble("Acceleration (rpsps)", () -> values.accelerationRotationsPerSecondPerSecond);
-        positionController.addDouble("Voltage (V)", () -> values.motorVolts);
-        positionController.addDouble("Current (A)", () -> values.motorAmps);
-    }
-
-    /**
-     * Configures the position controller.
-     * 
-     * @param constants
-     */
-    public void configure(PositionControllerIOConstants constants);
-
-    /**
-     * Updates the position controller's values.
-     * 
-     * @param values
-     */
-    public void update(PositionControllerIOValues values);
-
-    /**
-     * Sets the mechanism position.
-     * 
-     * @param positionRotations
-     */
-    public void setPosition(double positionRotations);
-
+  /** Position controller constants. */
+  public static class PositionControllerIOConstants {
     /**
-     * Sets the position setpoint.
-     * 
-     * @param positionRotations
-     * @param velocityRotationsPerSecond
+     * Interpret counterclockwise rotation on the motor face as having positive velocity, if set to
+     * true.
      */
-    public void setSetpoint(double positionRotations, double velocityRotationsPerSecond);
+    public boolean ccwPositive = true;
+
+    /** Use the motor to brake the controlled mechanism on neutral output, if set to true. */
+    public boolean neutralBrake = false;
+
+    /** Maximum amount of current, in amps, to provide to the motor. */
+    public double currentLimitAmps = 40.0;
+
+    /** Ratio between the position sensor and the controlled mechanism. */
+    public double sensorToMechanismRatio = 1.0;
+
+    /** Offset between absolute encoder reading and controlled mechanism position in rotations. */
+    public double absoluteEncoderOffsetRotations = 0.0;
+  }
+
+  /** Position controller values. */
+  public static class PositionControllerIOValues {
+    /** Position in rotations. */
+    public double positionRotations = 0.0;
+
+    /** Velocity in rotations per second. */
+    public double velocityRotationsPerSecond = 0.0;
+
+    /** Acceleration in rotations per second per second. */
+    public double accelerationRotationsPerSecondPerSecond = 0.0;
+
+    /** Motor voltage in volts. */
+    public double motorVolts = 0.0;
+
+    /** Motor current in amps. */
+    public double motorAmps = 0.0;
+  }
+
+  /**
+   * Adds position controller values to Shuffleboard.
+   *
+   * @param tab
+   * @param name
+   * @param values
+   */
+  public static void addToShuffleboard(
+      ShuffleboardTab tab, String name, PositionControllerIOValues values) {
+    ShuffleboardLayout positionController = Telemetry.addColumn(tab, name);
+
+    positionController.addDouble("Position (rot)", () -> values.positionRotations);
+    positionController.addDouble("Velocity (rps)", () -> values.velocityRotationsPerSecond);
+    positionController.addDouble(
+        "Acceleration (rpsps)", () -> values.accelerationRotationsPerSecondPerSecond);
+    positionController.addDouble("Voltage (V)", () -> values.motorVolts);
+    positionController.addDouble("Current (A)", () -> values.motorAmps);
+  }
+
+  /**
+   * Configures the position controller.
+   *
+   * @param constants
+   */
+  public void configure(PositionControllerIOConstants constants);
+
+  /**
+   * Updates the position controller's values.
+   *
+   * @param values
+   */
+  public void update(PositionControllerIOValues values);
+
+  /**
+   * Sets the mechanism position.
+   *
+   * @param positionRotations
+   */
+  public void setPosition(double positionRotations);
+
+  /**
+   * Sets the position setpoint.
+   *
+   * @param positionRotations
+   * @param velocityRotationsPerSecond
+   */
+  public void setSetpoint(double positionRotations, double velocityRotationsPerSecond);
 }
diff --git a/src/main/java/frc/lib/controller/PositionControllerIOSim.java b/src/main/java/frc/lib/controller/PositionControllerIOSim.java
@@ -3,28 +3,27 @@
 /** Simulated position controller. */
 public class PositionControllerIOSim implements PositionControllerIO {
 
-    private double positionRotations = 0.0;
-
-    private double velocityRotationsPerSecond = 0.0;
+  private double positionRotations = 0.0;
 
-    @Override
-    public void configure(PositionControllerIOConstants constants) {}
+  private double velocityRotationsPerSecond = 0.0;
 
-    @Override
-    public void update(PositionControllerIOValues values) {
-        values.positionRotations = positionRotations;
-        values.velocityRotationsPerSecond = velocityRotationsPerSecond;
-    }
+  @Override
+  public void configure(PositionControllerIOConstants constants) {}
 
-    @Override
-    public void setPosition(double positionRotations) {
-        this.positionRotations = positionRotations;
-    }
+  @Override
+  public void update(PositionControllerIOValues values) {
+    values.positionRotations = positionRotations;
+    values.velocityRotationsPerSecond = velocityRotationsPerSecond;
+  }
 
-    @Override
-    public void setSetpoint(double positionRotations, double velocityRotationsPerSecond) {
-        this.positionRotations = positionRotations;
-        this.velocityRotationsPerSecond = velocityRotationsPerSecond;
-    }
-
+  @Override
+  public void setPosition(double positionRotations) {
+    this.positionRotations = positionRotations;
+  }
+
+  @Override
+  public void setSetpoint(double positionRotations, double velocityRotationsPerSecond) {
+    this.positionRotations = positionRotations;
+    this.velocityRotationsPerSecond = velocityRotationsPerSecond;
+  }
 }