chore: Format.

Gongoliers · Apr 25, 2024 · ae6219e · ae6219e
1 parent f19e0b6
commit ae6219e
Show file tree

Hide file tree

Showing 10 changed files with 188 additions and 168 deletions.
diff --git a/src/main/java/frc/lib/config/AbsoluteEncoderConfig.java b/src/main/java/frc/lib/config/AbsoluteEncoderConfig.java
@@ -5,72 +5,72 @@
 /** Absolute encoder config. */
 public class AbsoluteEncoderConfig {
 
-    /** Interpret counterclockwise rotation on the encoder as having positive velocity. */
-    private boolean ccwPositive = true;
+  /** Interpret counterclockwise rotation on the encoder as having positive velocity. */
+  private boolean ccwPositive = true;
 
-    /** Ratio between the absolute encoder and the mechanism. */
-    private double sensorToMechanismRatio = 1.0;
+  /** Ratio between the absolute encoder and the mechanism. */
+  private double sensorToMechanismRatio = 1.0;
 
-    /** Offset between absolute encoder reading and mechanism position. */
-    private Rotation2d offset = new Rotation2d();
+  /** Offset between absolute encoder reading and mechanism position. */
+  private Rotation2d offset = new Rotation2d();
 
-    /**
-     * Modifies this absolute encoder config's counterclockwise positive.
-     * 
-     * @param ccwPositive the counterclockwise positive.
-     * @return this absolute encoder config.
-     */
-    public AbsoluteEncoderConfig withCCWPositive(boolean ccwPositive) {
-        this.ccwPositive = ccwPositive;
-        return this;
-    }
+  /**
+   * Modifies this absolute encoder config's counterclockwise positive.
+   *
+   * @param ccwPositive the counterclockwise positive.
+   * @return this absolute encoder config.
+   */
+  public AbsoluteEncoderConfig withCCWPositive(boolean ccwPositive) {
+    this.ccwPositive = ccwPositive;
+    return this;
+  }
 
-    /**
-     * Modifies this absolute encoder config's sensor to mechanism ratio.
-     * 
-     * @param sensorToMechanismRatio the sensor to mechanism ratio.
-     * @return this absolute encoder config.
-     */
-    public AbsoluteEncoderConfig withSensorToMechanismRatio(double sensorToMechanismRatio) {
-        this.sensorToMechanismRatio = sensorToMechanismRatio;
-        return this;
-    }
+  /**
+   * Modifies this absolute encoder config's sensor to mechanism ratio.
+   *
+   * @param sensorToMechanismRatio the sensor to mechanism ratio.
+   * @return this absolute encoder config.
+   */
+  public AbsoluteEncoderConfig withSensorToMechanismRatio(double sensorToMechanismRatio) {
+    this.sensorToMechanismRatio = sensorToMechanismRatio;
+    return this;
+  }
 
-    /**
-     * Modifies this absolute encoder config's offset.
-     * 
-     * @param offset the offset.
-     * @return this absolute encoder config.
-     */
-    public AbsoluteEncoderConfig withOffset(Rotation2d offset) {
-        this.offset = offset;
-        return this;
-    }
+  /**
+   * Modifies this absolute encoder config's offset.
+   *
+   * @param offset the offset.
+   * @return this absolute encoder config.
+   */
+  public AbsoluteEncoderConfig withOffset(Rotation2d offset) {
+    this.offset = offset;
+    return this;
+  }
 
-    /**
-     * Returns true if the absolute encoder is counterclockwise positive.
-     * 
-     * @return true if the absolute encoder is counterclockwise positive.
-     */
-    public boolean ccwPositive() {
-        return ccwPositive;
-    }
+  /**
+   * Returns true if the absolute encoder is counterclockwise positive.
+   *
+   * @return true if the absolute encoder is counterclockwise positive.
+   */
+  public boolean ccwPositive() {
+    return ccwPositive;
+  }
 
-    /**
-     * Returns the absolute encoder sensor to mechanism ratio.
-     * 
-     * @return the absolute encoder sensor to mechanism ratio.
-     */
-    public double sensorToMechanismRatio() {
-        return sensorToMechanismRatio;
-    }
+  /**
+   * Returns the absolute encoder sensor to mechanism ratio.
+   *
+   * @return the absolute encoder sensor to mechanism ratio.
+   */
+  public double sensorToMechanismRatio() {
+    return sensorToMechanismRatio;
+  }
 
-    /**
-     * Returns the absolute encoder offset.
-     * 
-     * @return the absolute encoder offset.
-     */
-    public Rotation2d offset() {
-        return offset;
-    }
+  /**
+   * Returns the absolute encoder offset.
+   *
+   * @return the absolute encoder offset.
+   */
+  public Rotation2d offset() {
+    return offset;
+  }
 }
diff --git a/src/main/java/frc/lib/config/FeedbackControllerConfig.java b/src/main/java/frc/lib/config/FeedbackControllerConfig.java
@@ -92,45 +92,45 @@ public PIDController createPIDController() {
 
   /**
    * Returns the feedback controller proportional gain.
-   * 
+   *
    * @return the feedback controller proportional gain.
-    */
+   */
   public double kP() {
     return kP;
   }
 
   /**
    * Returns the feedback controller integral gain.
-   * 
+   *
    * @return the feedback controller integral gain.
-    */
+   */
   public double kI() {
     return kI;
   }
 
   /**
    * Returns the feedback controller derivative gain.
-   * 
+   *
    * @return the feedback controller derivative gain.
-    */
+   */
   public double kD() {
     return kD;
   }
 
   /**
    * Returns the feedback controller position tolerance.
-   * 
+   *
    * @return the feedback controller position tolerance.
-    */
+   */
   public double kPositionTolerance() {
     return kPositionTolerance;
   }
 
   /**
    * Returns the feedback controller velocity tolerance.
-   * 
+   *
    * @return the feedback controller velocity tolerance.
-    */
+   */
   public double kVelocityTolerance() {
     return kVelocityTolerance;
   }

diff --git a/src/main/java/frc/lib/config/FeedforwardControllerConfig.java b/src/main/java/frc/lib/config/FeedforwardControllerConfig.java
@@ -85,7 +85,7 @@ public ArmFeedforward createArmFeedforward() {
 
   /**
    * Returns the feedforward controller static gain.
-   * 
+   *
    * @return the feedforward controller static gain.
    */
   public double kS() {
@@ -94,7 +94,7 @@ public double kS() {
 
   /**
    * Returns the feedforward controller gravity gain.
-   * 
+   *
    * @return the feedforward controller gravity gain.
    */
   public double kG() {
@@ -103,7 +103,7 @@ public double kG() {
 
   /**
    * Returns the feedforward controller velocity gain.
-   * 
+   *
    * @return the feedforward controller velocity gain.
    */
   public double kV() {
@@ -112,11 +112,10 @@ public double kV() {
 
   /**
    * Returns the feedforward controller acceleration gain.
-   * 
+   *
    * @return the feedforward controller acceleration gain.
    */
   public double kA() {
     return kA;
   }
-
 }
diff --git a/src/main/java/frc/lib/config/MechanismConfig.java b/src/main/java/frc/lib/config/MechanismConfig.java
@@ -17,7 +17,7 @@ public class MechanismConfig {
 
   /**
    * Modifies this mechanism config to use the absolute encoder config.
-   * 
+   *
    * @param absoluteEncoderConfig the absolute encoder config.
    * @return this mechanism config.
    */
@@ -43,15 +43,14 @@ public MechanismConfig withFeedback(FeedbackControllerConfig feedbackControllerC
    * @param feedforwardControllerConfig the feedforward controller config.
    * @return this mechanism config.
    */
-  public MechanismConfig withFeedforward(
-      FeedforwardControllerConfig feedforwardControllerConfig) {
+  public MechanismConfig withFeedforward(FeedforwardControllerConfig feedforwardControllerConfig) {
     this.feedforward = feedforwardControllerConfig;
     return this;
   }
 
   /**
    * Modifies this mechanism config to use the motor config.
-   * 
+   *
    * @param motorConfig the motor config.
    * @return this mechanism config.
    */