fix indenting and remove template code

frc-862 · Jan 29, 2024 · b891440 · b891440
1 parent 5a15828
commit b891440
Showing 1 changed file with 47 additions and 58 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
@@ -1,7 +1,3 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot.subsystems;
 
 import com.ctre.phoenix6.hardware.TalonFX;
@@ -13,58 +9,51 @@
 import frc.thunder.shuffleboard.LightningShuffleboard;
 
 public class Climber extends SubsystemBase {
-  /** Creates a new Climb. */
-
-  // create variables
-  public TalonFX climbMotorR;
-  public TalonFX climbMotorL;
-  public double setPoint;
-
-  public Climber() {
-    // configure climb motors
-    climbMotorR = FalconConfig.createMotor(CAN.CLIMB_RIGHT, CAN.CANBUS_FD,
-      ClimbConstants.CLIMB_RIGHT_MOTOR_INVERT, 
-      ClimbConstants.CLIMB_MOTOR_SUPPLY_CURRENT_LIMIT, 
-      ClimbConstants.CLIMB_MOTOR_STATOR_CURRENT_LIMIT, 
-      ClimbConstants.FLYWHEEL_MOTOR_NEUTRAL_MODE, ClimbConstants.CLIMB_MOTOR_KP,
-      ClimbConstants.CLIMB_MOTOR_KI, ClimbConstants.CLIMB_MOTOR_KD, 
-      ClimbConstants.CLIMB_MOTOR_KS, ClimbConstants.CLIMB_MOTOR_KV);
-    climbMotorL = FalconConfig.createMotor(CAN.CLIMB_LEFT, CAN.CANBUS_FD,
-      ClimbConstants.CLIMB_LEFT_MOTOR_INVERT, 
-      ClimbConstants.CLIMB_MOTOR_SUPPLY_CURRENT_LIMIT, 
-      ClimbConstants.CLIMB_MOTOR_STATOR_CURRENT_LIMIT, 
-      ClimbConstants.FLYWHEEL_MOTOR_NEUTRAL_MODE, ClimbConstants.CLIMB_MOTOR_KP,
-      ClimbConstants.CLIMB_MOTOR_KI, ClimbConstants.CLIMB_MOTOR_KD, 
-      ClimbConstants.CLIMB_MOTOR_KS, ClimbConstants.CLIMB_MOTOR_KV);
-
-    LightningShuffleboard.setDoubleSupplier("Climb", "Height", () -> getHeight());
-  }
-
-  /**
-   * sets power to both climb motors
-   * @param power
-   */
-  public void setPower(double power) {
-      climbMotorR.set(power);
-      climbMotorL.set(power);
-  }
-
-  /**
-   * stops all climb motors
-   */
-  public void stopClimb(){
-    setPower(0);
-  }
-
-  /**
-   * @return height of climb
-   */
-  public double getHeight(){
-    return climbMotorR.getRotorPosition().getValueAsDouble(); // TODO: check if returns correct height value
-  }
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
+    // create variables
+    public TalonFX climbMotorR;
+    public TalonFX climbMotorL;
+    public double setPoint;
+
+    public Climber() {
+        // configure climb motors
+        climbMotorR = FalconConfig.createMotor(CAN.CLIMB_RIGHT, CAN.CANBUS_FD,
+            ClimbConstants.CLIMB_RIGHT_MOTOR_INVERT, 
+            ClimbConstants.CLIMB_MOTOR_SUPPLY_CURRENT_LIMIT, 
+            ClimbConstants.CLIMB_MOTOR_STATOR_CURRENT_LIMIT, 
+            ClimbConstants.FLYWHEEL_MOTOR_NEUTRAL_MODE, ClimbConstants.CLIMB_MOTOR_KP,
+            ClimbConstants.CLIMB_MOTOR_KI, ClimbConstants.CLIMB_MOTOR_KD, 
+            ClimbConstants.CLIMB_MOTOR_KS, ClimbConstants.CLIMB_MOTOR_KV);
+        climbMotorL = FalconConfig.createMotor(CAN.CLIMB_LEFT, CAN.CANBUS_FD,
+            ClimbConstants.CLIMB_LEFT_MOTOR_INVERT, 
+            ClimbConstants.CLIMB_MOTOR_SUPPLY_CURRENT_LIMIT, 
+            ClimbConstants.CLIMB_MOTOR_STATOR_CURRENT_LIMIT, 
+            ClimbConstants.FLYWHEEL_MOTOR_NEUTRAL_MODE, ClimbConstants.CLIMB_MOTOR_KP,
+            ClimbConstants.CLIMB_MOTOR_KI, ClimbConstants.CLIMB_MOTOR_KD, 
+            ClimbConstants.CLIMB_MOTOR_KS, ClimbConstants.CLIMB_MOTOR_KV);
+
+        LightningShuffleboard.setDoubleSupplier("Climb", "Height", () -> getHeight());
+    }
+
+    /**
+     * sets power to both climb motors
+     * @param power
+     */
+    public void setPower(double power) {
+        climbMotorR.set(power);
+        climbMotorL.set(power);
+    }
+
+    /**
+     * stops all climb motors
+     */
+    public void stopClimb(){
+        setPower(0);
+    }
+
+    /**
+     * @return height of climb
+     */
+    public double getHeight(){
+        return climbMotorR.getRotorPosition().getValueAsDouble(); // TODO: check if returns correct height value
+    }
 }