fix errors

.vscode/settings.json

@@ -34,7 +34,7 @@
     "editor.defaultFormatter": "redhat.java",
   },
   "editor.codeActionsOnSave": {
-    "source.organizeImports": true
+    "source.organizeImports": "explicit"
   },
   "editor.formatOnSave": true,
   "editor.formatOnPaste": true,

src/main/java/frc/lib/util/PhotonCameraWrapper.java

@@ -1,6 +1,5 @@
 package frc.lib.util;
 
-import java.io.IOException;
 import java.util.Optional;
 import org.photonvision.EstimatedRobotPose;
 import org.photonvision.PhotonCamera;
@@ -10,7 +9,6 @@
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -31,15 +29,14 @@ public PhotonCameraWrapper(String cameraName, Transform3d robotToCam) {
         // Change the name of your camera here to whatever it is in the PhotonVision UI.
         photonCamera = new PhotonCamera(cameraName);
 
-
-            // Attempt to load the AprilTagFieldLayout that will tell us where the tags are on the
-            // field.
-            AprilTagFieldLayout fieldLayout =
-                AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField();
-            // Create pose estimator
-            photonPoseEstimator = new PhotonPoseEstimator(fieldLayout, PoseStrategy.MULTI_TAG_PNP_ON_RIO,
-                photonCamera, robotToCam);
-            photonPoseEstimator.setMultiTagFallbackStrategy(PoseStrategy.CLOSEST_TO_CAMERA_HEIGHT);
+
+        // Attempt to load the AprilTagFieldLayout that will tell us where the tags are on the
+        // field.
+        AprilTagFieldLayout fieldLayout = AprilTagFields.k2023ChargedUp.loadAprilTagLayoutField();
+        // Create pose estimator
+        photonPoseEstimator = new PhotonPoseEstimator(fieldLayout,
+            PoseStrategy.MULTI_TAG_PNP_ON_RIO, photonCamera, robotToCam);
+        photonPoseEstimator.setMultiTagFallbackStrategy(PoseStrategy.CLOSEST_TO_CAMERA_HEIGHT);
     }
 
     /**

src/main/java/frc/robot/Constants.java

@@ -70,7 +70,8 @@ public static final class Swerve {
         public static final double TRACK_WIDTH = Units.inchesToMeters(22);
         // Left-Right Distance
         public static final double WHEEL_BASE = Units.inchesToMeters(22);
-        public static final double ROBOT_RADIUS = Math.sqrt(Math.pow(TRACK_WIDTH/2,2) + Math.pow(WHEEL_BASE/2,2));
+        public static final double ROBOT_RADIUS =
+            Math.sqrt(Math.pow(TRACK_WIDTH / 2, 2) + Math.pow(WHEEL_BASE / 2, 2));
         public static final double WHEEL_DIAMETER = Units.inchesToMeters(4);
         public static final double WHEEL_CIRCUMFERENCE = WHEEL_DIAMETER * Math.PI;
 

src/main/java/frc/robot/commands/drive/ClimbPlatform.java

@@ -19,13 +19,14 @@ public class ClimbPlatform extends Command {
     private double startTime;
     private int endCount = 0;
 
-    private PIDController pidController = new PIDController(-.006, 0, 0);
+    private PIDController pidController = new PIDController(0, 0, 0);
 
     /**
      * Test April tag transform
      */
     public ClimbPlatform(Swerve swerve) {
         this.swerve = swerve;
+        pidController.setP(-.006);
         this.addRequirements(swerve);
     }
 

src/main/java/frc/robot/subsystems/Swerve.java

@@ -143,9 +143,10 @@ public Pose2d getPose() {
         return swerveOdometry.getEstimatedPosition();
     }
 
-    public ChassisSpeeds getChassisSpeeds(){
+    public ChassisSpeeds getChassisSpeeds() {
         return chassisSpeeds;
     }
+
     /**
      * Resets the robot's position on the field.
      *