Team_2648/2024_Robot_Code
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Indentation, whitespace, and linting changes

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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
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36
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -29,22 +29,26 @@ public class Drivetrain extends SubsystemBase {
private final MAXSwerveModule m_frontLeft = new MAXSwerveModule(
DrivetrainConstants.kFrontLeftDrivingCanId,
DrivetrainConstants.kFrontLeftTurningCanId,
DrivetrainConstants.kFrontLeftChassisAngularOffset);
DrivetrainConstants.kFrontLeftChassisAngularOffset
);
private final MAXSwerveModule m_frontRight = new MAXSwerveModule(
DrivetrainConstants.kFrontRightDrivingCanId,
DrivetrainConstants.kFrontRightTurningCanId,
DrivetrainConstants.kFrontRightChassisAngularOffset);
DrivetrainConstants.kFrontRightChassisAngularOffset
);
private final MAXSwerveModule m_rearLeft = new MAXSwerveModule(
DrivetrainConstants.kRearLeftDrivingCanId,
DrivetrainConstants.kRearLeftTurningCanId,
DrivetrainConstants.kBackLeftChassisAngularOffset);
DrivetrainConstants.kBackLeftChassisAngularOffset
);
private final MAXSwerveModule m_rearRight = new MAXSwerveModule(
DrivetrainConstants.kRearRightDrivingCanId,
DrivetrainConstants.kRearRightTurningCanId,
DrivetrainConstants.kBackRightChassisAngularOffset);
DrivetrainConstants.kBackRightChassisAngularOffset
);
// The gyro sensor
private final AHRS m_gyro = new AHRS(SPI.Port.kMXP);
@ -67,7 +71,8 @@ public class Drivetrain extends SubsystemBase {
m_frontRight.getPosition(),
m_rearLeft.getPosition(),
m_rearRight.getPosition()
});
}
);
/** Creates a new DriveSubsystem. */
public Drivetrain() {
@ -83,7 +88,8 @@ public class Drivetrain extends SubsystemBase {
m_frontRight.getPosition(),
m_rearLeft.getPosition(),
m_rearRight.getPosition()
});
}
);
}
/**
@ -117,7 +123,8 @@ public class Drivetrain extends SubsystemBase {
m_rearLeft.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.
*/
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative, boolean rateLimit) {
double xSpeedCommanded;
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
}
double currentTime = WPIUtilJNI.now() * 1e-6;
double elapsedTime = currentTime - m_prevTime;
double angleDif = SwerveUtils.AngleDifference(inputTranslationDir, m_currentTranslationDir);
if (angleDif < 0.45*Math.PI) {
m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
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
// keep currentTranslationDir unchanged
m_currentTranslationMag = m_magLimiter.calculate(0.0);
}
else {
} else {
m_currentTranslationDir = SwerveUtils.WrapAngle(m_currentTranslationDir + Math.PI);
m_currentTranslationMag = m_magLimiter.calculate(inputTranslationMag);
}
}
else {
} else {
m_currentTranslationDir = SwerveUtils.StepTowardsCircular(m_currentTranslationDir, inputTranslationDir, directionSlewRate * elapsedTime);
m_currentTranslationMag = m_magLimiter.calculate(0.0);
}
m_prevTime = currentTime;
xSpeedCommanded = m_currentTranslationMag * Math.cos(m_currentTranslationDir);
ySpeedCommanded = m_currentTranslationMag * Math.sin(m_currentTranslationDir);
m_currentRotation = m_rotLimiter.calculate(rot);
} else {
xSpeedCommanded = xSpeed;
ySpeedCommanded = ySpeed;