Fix formatting and remove unused imports (#23)

* Fix formatting and remove unused imports * fix indentation * add editor settings for 2 space tabs
SaintsRobotics · Mar 4, 2024 · bf9b429 · bf9b429
1 parent 0e6b9e8
commit bf9b429
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Showing 6 changed files with 72 additions and 59 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -1,4 +1,6 @@
 {
+  "editor.insertSpaces": true,
+  "editor.tabSize": 2,
   "java.configuration.updateBuildConfiguration": "automatic",
   "java.server.launchMode": "Standard",
   "files.exclude": {
@@ -18,9 +20,11 @@
     {
       "name": "WPIlibUnitTests",
       "workingDirectory": "${workspaceFolder}/build/jni/release",
-      "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+      "vmargs": [
+        "-Djava.library.path=${workspaceFolder}/build/jni/release"
+      ],
       "env": {
-        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release",
         "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
       }
     },

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -4,18 +4,15 @@
 
 package frc.robot;
 
-
-import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc.robot.subsystems.ClimberSubsystem;
 
 /**
- * The VM is configured to automatically run this class, and to call the functions corresponding to
- * each mode, as described in the TimedRobot documentation. If you change the name of this class or
- * the package after creating this project, you must also update the build.gradle file in the
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.gradle file in the
  * project.
  */
 public class Robot extends TimedRobot {
@@ -25,47 +22,54 @@ public class Robot extends TimedRobot {
 
   // public ClimberSubsystem m_climberSubsystem = new ClimberSubsystem();
 
-  private Timer m_buttonTimer = new Timer();
   /**
-   * This function is run when the robot is first started up and should be used for any
-   * initialization code.
+   * This function is run when the robot is first started up and should be used
+   * for any initialization code.
    */
   @Override
   public void robotInit() {
-    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
-    // autonomous chooser on the dashboard.
+    // Instantiate our RobotContainer. This will perform all our button bindings,
+    // and put our autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
   }
 
   /**
-   * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
-   * that you want ran during disabled, autonomous, teleoperated and test.
+   * This function is called every 20 ms, no matter the mode. Use this for items
+   * like diagnostics that you want ran during disabled, autonomous, teleoperated
+   * and test.
    *
-   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
-   * SmartDashboard integrated updating.
+   * <p>
+   * This runs after the mode specific periodic functions, but before LiveWindow
+   * and SmartDashboard integrated updating.
+   * </p>
    */
   @Override
   public void robotPeriodic() {
-    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
-    // commands, running already-scheduled commands, removing finished or interrupted commands,
-    // and running subsystem periodic() methods.  This must be called from the robot's periodic
-    // block in order for anything in the Command-based framework to work.
+    // Runs the Scheduler. This is responsible for polling buttons, adding
+    // newly-scheduled commands, running already-scheduled commands, removing
+    // finished or interrupted commands, and running subsystem periodic() methods.
+    // This must be called from the robot's periodic block in order for anything in
+    // the Command-based framework to work.
     CommandScheduler.getInstance().run();
   }
 
   /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {}
+  public void disabledInit() {
+  }
 
   @Override
   public void disabledPeriodic() {
     // if (RobotController.getUserButton() && m_buttonTimer.get() > 1) {
-    //   m_climberSubsystem.toggleCompressor();
-    //   m_buttonTimer.reset();
+    // m_climberSubsystem.toggleCompressor();
+    // m_buttonTimer.reset();
     // }
   }
 
-  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
+  /**
+   * This autonomous runs the autonomous command selected by your
+   * {@link RobotContainer} class.
+   */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -78,7 +82,8 @@ public void autonomousInit() {
 
   /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {}
+  public void autonomousPeriodic() {
+  }
 
   @Override
   public void teleopInit() {
@@ -93,7 +98,8 @@ public void teleopInit() {
 
   /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+  }
 
   @Override
   public void testInit() {
@@ -103,13 +109,16 @@ public void testInit() {
 
   /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {}
+  public void testPeriodic() {
+  }
 
   /** This function is called once when the robot is first started up. */
   @Override
-  public void simulationInit() {}
+  public void simulationInit() {
+  }
 
   /** This function is called periodically whilst in simulation. */
   @Override
-  public void simulationPeriodic() {}
+  public void simulationPeriodic() {
+  }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -5,21 +5,17 @@
 package frc.robot;
 
 import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.path.PathConstraints;
 import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
 import com.pathplanner.lib.util.PIDConstants;
 import com.pathplanner.lib.util.ReplanningConfig;
 
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -30,12 +26,11 @@
 import frc.robot.commands.NoteIntakeCommand;
 import frc.robot.commands.NoteOuttakeCommand;
 import frc.robot.commands.ShooterSetSpeedCommand;
-import frc.robot.subsystems.ClimberSubsystem;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.IntakeSubsystem.ArmPosition;
-import frc.robot.subsystems.ShooterSubsystem.ShootSpeed;
 import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.subsystems.ShooterSubsystem.ShootSpeed;
 import frc.robot.subsystems.VisionSubsystem;
 
 /*
@@ -53,7 +48,6 @@ public class RobotContainer {
   private final VisionSubsystem m_visionSubsystem = new VisionSubsystem();
 
   private final XboxController m_driverController = new XboxController(IOConstants.kDriverControllerPort);
-  private final XboxController m_operatorController = new XboxController(IOConstants.kOperatorControllerPort);
 
   /**
    * The container for the robot. Contains subsystems, IO devices, and commands.
@@ -67,8 +61,10 @@ public RobotContainer() {
             new PIDConstants(5, 0.0, 0.0), // Translation PID constants
             new PIDConstants(5, 0.0, 0.0), // Rotation PID constants
             DriveConstants.kMaxSpeedMetersPerSecond, // Max module speed, in m/s
-            Math.hypot(DriveConstants.kTrackWidth, DriveConstants.kWheelBase), // Drive base radius in meters. Distance
-                                                                               // from robot center to furthest module.
+            Math.hypot(DriveConstants.kTrackWidth, DriveConstants.kWheelBase), // Drive base radius in
+                                                                               // meters. Distance
+                                                                               // from robot center to
+                                                                               // furthest module.
             new ReplanningConfig(true, true)),
         () -> false, m_robotDrive);
 
@@ -122,13 +118,16 @@ private void configureBindings() {
     // DriveConstants.kMaxAngularSpeedRadiansPerSecond - 1, 5)));
 
     new JoystickButton(m_driverController, Button.kX.value)
-        .onTrue(new SequentialCommandGroup(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting), new NoteOuttakeCommand(m_intakeSubsystem)))
+        .onTrue(new SequentialCommandGroup(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Shooting),
+            new NoteOuttakeCommand(m_intakeSubsystem)))
         .onFalse(new ShooterSetSpeedCommand(m_shooterSubsystem, ShootSpeed.Off));
 
     // new JoystickButton(m_operatorController, Button.kA.value)
-    //     .onTrue(new InstantCommand(() -> m_climberSubsystem.forward(), m_climberSubsystem));
+    // .onTrue(new InstantCommand(() -> m_climberSubsystem.forward(),
+    // m_climberSubsystem));
     // new JoystickButton(m_operatorController, Button.kB.value)
-    //     .onTrue(new InstantCommand(() -> m_climberSubsystem.reverse(), m_climberSubsystem));
+    // .onTrue(new InstantCommand(() -> m_climberSubsystem.reverse(),
+    // m_climberSubsystem));
 
     new Trigger(() -> {
       return m_driverController.getLeftTriggerAxis() > 0.5;

diff --git a/src/main/java/frc/robot/commands/ShooterSetSpeedCommand.java b/src/main/java/frc/robot/commands/ShooterSetSpeedCommand.java
@@ -6,7 +6,6 @@
 
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants.ShooterConstants;
 import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.subsystems.ShooterSubsystem.ShootSpeed;
 
@@ -37,11 +36,13 @@ public void initialize() {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+  }
 
   // Returns true when the command should end.
   @Override

diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
@@ -1,17 +1,17 @@
 package frc.robot.subsystems;
 
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kOff;
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
+
 import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.ClimberConstants;
 
-import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
-import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kOff;
-import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
-
-public class ClimberSubsystem extends SubsystemBase{
+public class ClimberSubsystem extends SubsystemBase {
 
   private final DoubleSolenoid m_leftSolenoid = new DoubleSolenoid(PneumaticsModuleType.REVPH,
       ClimberConstants.leftForwardChannel, ClimberConstants.leftReverseChannel);
@@ -28,7 +28,7 @@ public ClimberSubsystem() {
     m_compressorEnabled = false;
     solenoidOff();
     toggleCompressor();
-    }
+  }
 
   // Runs once every tick (~20ms)
   public void periodic() {
@@ -59,7 +59,7 @@ public void reverse() {
 
   /**
    * Toggles the state of the compressor (on/off)
-   */ 
+   */
   public void toggleCompressor() {
     m_compressorEnabled = !m_compressorEnabled;
     if (m_compressorEnabled) {

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -4,8 +4,8 @@
 
 package frc.robot.subsystems;
 
-import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -29,7 +29,7 @@ public ShooterSubsystem() {
   }
 
   public void setShootingSpeed(ShootSpeed speed) {
-    switch (speed){
+    switch (speed) {
       case Shooting:
         m_topSpeed = ShooterConstants.kShooterSpeed;
         m_bottomSpeed = ShooterConstants.kShooterSpeed;
@@ -43,7 +43,7 @@ public void setShootingSpeed(ShootSpeed speed) {
     }
   }
 
-  public double returnCurrentSpeed(){
+  public double returnCurrentSpeed() {
     return m_bottom.getEncoder().getVelocity();
   }
 
@@ -57,8 +57,8 @@ public void periodic() {
     m_top.set(m_topSpeed);
   }
 
-  public static enum ShootSpeed{
+  public static enum ShootSpeed {
     Shooting,
     Off
-  } 
+  }
 }