Indentation, whitespace, and linting changes

This commit is contained in:
Bradley Bickford 2024-01-09 22:17:24 -05:00
parent 1e2af3716d
commit 1f76cb39ea
4 changed files with 137 additions and 135 deletions

View File

@ -29,22 +29,26 @@ public class Drivetrain extends SubsystemBase {
private final MAXSwerveModule m_frontLeft = new MAXSwerveModule( private final MAXSwerveModule m_frontLeft = new MAXSwerveModule(
DrivetrainConstants.kFrontLeftDrivingCanId, DrivetrainConstants.kFrontLeftDrivingCanId,
DrivetrainConstants.kFrontLeftTurningCanId, DrivetrainConstants.kFrontLeftTurningCanId,
DrivetrainConstants.kFrontLeftChassisAngularOffset); DrivetrainConstants.kFrontLeftChassisAngularOffset
);
private final MAXSwerveModule m_frontRight = new MAXSwerveModule( private final MAXSwerveModule m_frontRight = new MAXSwerveModule(
DrivetrainConstants.kFrontRightDrivingCanId, DrivetrainConstants.kFrontRightDrivingCanId,
DrivetrainConstants.kFrontRightTurningCanId, DrivetrainConstants.kFrontRightTurningCanId,
DrivetrainConstants.kFrontRightChassisAngularOffset); DrivetrainConstants.kFrontRightChassisAngularOffset
);
private final MAXSwerveModule m_rearLeft = new MAXSwerveModule( private final MAXSwerveModule m_rearLeft = new MAXSwerveModule(
DrivetrainConstants.kRearLeftDrivingCanId, DrivetrainConstants.kRearLeftDrivingCanId,
DrivetrainConstants.kRearLeftTurningCanId, DrivetrainConstants.kRearLeftTurningCanId,
DrivetrainConstants.kBackLeftChassisAngularOffset); DrivetrainConstants.kBackLeftChassisAngularOffset
);
private final MAXSwerveModule m_rearRight = new MAXSwerveModule( private final MAXSwerveModule m_rearRight = new MAXSwerveModule(
DrivetrainConstants.kRearRightDrivingCanId, DrivetrainConstants.kRearRightDrivingCanId,
DrivetrainConstants.kRearRightTurningCanId, DrivetrainConstants.kRearRightTurningCanId,
DrivetrainConstants.kBackRightChassisAngularOffset); DrivetrainConstants.kBackRightChassisAngularOffset
);
// The gyro sensor // The gyro sensor
private final AHRS m_gyro = new AHRS(SPI.Port.kMXP); private final AHRS m_gyro = new AHRS(SPI.Port.kMXP);
@ -67,7 +71,8 @@ public class Drivetrain extends SubsystemBase {
m_frontRight.getPosition(), m_frontRight.getPosition(),
m_rearLeft.getPosition(), m_rearLeft.getPosition(),
m_rearRight.getPosition() m_rearRight.getPosition()
}); }
);
/** Creates a new DriveSubsystem. */ /** Creates a new DriveSubsystem. */
public Drivetrain() { public Drivetrain() {
@ -83,7 +88,8 @@ public class Drivetrain extends SubsystemBase {
m_frontRight.getPosition(), m_frontRight.getPosition(),
m_rearLeft.getPosition(), m_rearLeft.getPosition(),
m_rearRight.getPosition() m_rearRight.getPosition()
}); }
);
} }
/** /**
@ -117,7 +123,8 @@ public class Drivetrain extends SubsystemBase {
m_rearLeft.getPosition(), m_rearLeft.getPosition(),
m_rearRight.getPosition() m_rearRight.getPosition()
}, },
pose); pose
);
} }
/** /**
@ -131,7 +138,6 @@ public class Drivetrain extends SubsystemBase {
* @param rateLimit Whether to enable rate limiting for smoother control. * @param rateLimit Whether to enable rate limiting for smoother control.
*/ */
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative, boolean rateLimit) { public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative, boolean rateLimit) {
double xSpeedCommanded; double xSpeedCommanded;
double ySpeedCommanded; double ySpeedCommanded;
@ -148,35 +154,31 @@ public class Drivetrain extends SubsystemBase {
directionSlewRate = 500.0; //some high number that means the slew rate is effectively instantaneous directionSlewRate = 500.0; //some high number that means the slew rate is effectively instantaneous
} }
double currentTime = WPIUtilJNI.now() * 1e-6; double currentTime = WPIUtilJNI.now() * 1e-6;
double elapsedTime = currentTime - m_prevTime; double elapsedTime = currentTime - m_prevTime;
double angleDif = SwerveUtils.AngleDifference(inputTranslationDir, m_currentTranslationDir); double angleDif = SwerveUtils.AngleDifference(inputTranslationDir, m_currentTranslationDir);
if (angleDif < 0.45*Math.PI) { if (angleDif < 0.45*Math.PI) {
m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime); m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag); m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag);
} } else if (angleDif > 0.85*Math.PI) {
else if (angleDif > 0.85*Math.PI) {
if (m_currentTranslationMag > 1e-4) { //some small number to avoid floating-point errors with equality checking if (m_currentTranslationMag > 1e-4) { //some small number to avoid floating-point errors with equality checking
// keep currentTranslationDir unchanged // keep currentTranslationDir unchanged
m_currentTranslationMag = m_magLimiter.calculate(0.0); m_currentTranslationMag = m_magLimiter.calculate(0.0);
} } else {
else {
m_currentTranslationDir = SwerveUtils.WrapAngle(m_currentTranslationDir + Math.PI); m_currentTranslationDir = SwerveUtils.WrapAngle(m_currentTranslationDir + Math.PI);
m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag); m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag);
} }
} } else {
else {
m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime); m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
m_currentTranslationMag = m_magLimiter.calculate(0.0); m_currentTranslationMag = m_magLimiter.calculate(0.0);
} }
m_prevTime = currentTime; m_prevTime = currentTime;
xSpeedCommanded = m_currentTranslationMag * Math.cos(m_currentTranslationDir); xSpeedCommanded = m_currentTranslationMag * Math.cos(m_currentTranslationDir);
ySpeedCommanded = m_currentTranslationMag * Math.sin(m_currentTranslationDir); ySpeedCommanded = m_currentTranslationMag * Math.sin(m_currentTranslationDir);
m_currentRotation = m_rotLimiter.calculate(rot); m_currentRotation = m_rotLimiter.calculate(rot);
} else { } else {
xSpeedCommanded = xSpeed; xSpeedCommanded = xSpeed;
ySpeedCommanded = ySpeed; ySpeedCommanded = ySpeed;