Fixed more build errors

prawny-boy · Jan 21, 2024 · bdcb9fd · bdcb9fd
2 parents d91b5e0 + ac6ce9b
commit bdcb9fd
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Showing 7 changed files with 102 additions and 108 deletions.
diff --git a/src/main/cpp/Mag.cpp b/src/main/cpp/Mag.cpp
@@ -1,60 +1,56 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include "Mag.h"
 
 Mag::Mag(MagConfig config) : _config(config) {}
 
 void Mag::OnUpdate(units::second_t dt) {
   switch (_state) {
-    case MagState::kIdle: 
-    {
+    case MagState::kIdle: {
       if (_config.intakeSensor->Get()) {
         SetState(MagState::kHold);
-      } else if (_config.intakeSensor->Get()){
+      } else if (_config.intakeSensor->Get()) {
         SetState(MagState::kHold);
       }
       _setVoltage = 0_V;
       _stringStateName = "Idle";
-    }
-    break;
+    } break;
 
-    case MagState::kHold:
-    {
+    case MagState::kHold: {
       if (_config.magSensor->Get() == 0) {
         SetState(MagState::kIdle);
       }
       _setVoltage = 0_V;
       _stringStateName = "Hold";
-    }
-    break;
+    } break;
 
-    case MagState::kEject:
-    {
-      if (_config.magSensor->Get() == 0 && _config.intakeSensor->Get() ==  0) {
+    case MagState::kEject: {
+      if (_config.magSensor->Get() == 0 && _config.intakeSensor->Get() == 0) {
         SetState(MagState::kIdle);
       }
       _setVoltage = -5_V;
       _stringStateName = "Eject";
-    }
-    break;
+    } break;
 
     case MagState::kRaw:
       _setVoltage = _rawVoltage;
       _stringStateName = "Raw";
-    break;
+      break;
 
-    case MagState::kPass:
-    {
+    case MagState::kPass: {
       if (_config.shooterSensor->Get()) {
         SetState(MagState::kIdle);
       } else {
         _setVoltage = 5_V;
         _stringStateName = "Pass";
       }
-    }
-    break;
+    } break;
 
     default:
       std::cout << "Error magazine in invalid state" << std::endl;
-    break;
+      break;
   }
   _config.magGearbox.motorController->SetVoltage(_setVoltage);
   _table->GetEntry("State: ").SetString(_stringStateName);
@@ -64,7 +60,6 @@ void Mag::OnUpdate(units::second_t dt) {
   _table->GetEntry("Magazine Sensor: ").SetDouble(_config.magSensor->Get());
 }
 
-
 void Mag::SetState(MagState state) {
   _state = state;
 }
@@ -75,7 +70,3 @@ void Mag::SetRaw(units::volt_t voltage) {
 MagState Mag::GetState() {
   return _state;
 }
-
-
-
-
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -23,15 +23,14 @@ void Robot::RobotInit() {
 
   mag = new Mag(robotmap.magSystem.config);
   wom::BehaviourScheduler::GetInstance()->Register(mag);
-  mag->SetDefaultBehaviour([this]() {
-    return wom::make<MagManualControl>(mag, &robotmap.controllers.coDriver);
-  });
+  mag->SetDefaultBehaviour(
+      [this]() { return wom::make<MagManualControl>(mag, &robotmap.controllers.coDriver); });
 }
 
 void Robot::RobotPeriodic() {
   auto dt = wom::now() - lastPeriodic;
   lastPeriodic = wom::now();
-  
+
   loop.Poll();
   wom::BehaviourScheduler::GetInstance()->Tick();
 
@@ -41,7 +40,7 @@ void Robot::RobotPeriodic() {
 
 void Robot::TeleopInit() {
   loop.Clear();
-  wom::BehaviourScheduler *scheduler = wom::BehaviourScheduler::GetInstance();
+  wom::BehaviourScheduler* scheduler = wom::BehaviourScheduler::GetInstance();
   scheduler->InterruptAll();
 
   m_chooser.SetDefaultOption("Default Auto", "Default Auto");

diff --git a/src/main/cpp/behaviours/MagBehaviour.cpp b/src/main/cpp/behaviours/MagBehaviour.cpp
@@ -1,19 +1,22 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include "behaviours/MagBehaviour.h"
 
-MagManualControl::MagManualControl(Mag *mag, frc::XboxController *codriver) : _mag(mag), _codriver(codriver) {
+MagManualControl::MagManualControl(Mag* mag, frc::XboxController* codriver) : _mag(mag), _codriver(codriver) {
   Controls(mag);
 }
 
 void MagManualControl::OnTick(units::second_t dt) {
-
   if (_codriver->GetAButtonPressed()) {
     if (_rawControl == true) {
       _rawControl = false;
     } else {
       _rawControl = true;
     }
   }
-  
+
   if (_rawControl) {
     // Manual control, right bumper for manual override.
     if (_codriver->GetLeftBumper()) {
@@ -26,24 +29,23 @@ void MagManualControl::OnTick(units::second_t dt) {
     } else {
       _mag->SetRaw(0_V);
     }
-    
+
   } else {
     _mag->SetState(MagState::kIdle);
     if (_codriver->GetLeftBumper()) {
       _mag->SetState(MagState::kPass);
-
     }
   }
 }
-
-    MagAutoPass::MagAutoPass(Mag *mag) {}
-
-    void MagAutoPass::OnTick(units::second_t dt) {  
-      _mag->SetState(MagState::kPass);
-    }
 
-    MagAutoHold::MagAutoHold(Mag *mag) {}
-
-    void MagAutoHold::OnTick(units::second_t dt) {  
-      _mag->SetState(MagState::kHold);
-    }
+MagAutoPass::MagAutoPass(Mag* mag) {}
+
+void MagAutoPass::OnTick(units::second_t dt) {
+  _mag->SetState(MagState::kPass);
+}
+
+MagAutoHold::MagAutoHold(Mag* mag) {}
+
+void MagAutoHold::OnTick(units::second_t dt) {
+  _mag->SetState(MagState::kHold);
+}
diff --git a/src/main/include/Mag.h b/src/main/include/Mag.h
@@ -1,9 +1,14 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #pragma once
-#include "Wombat.h"
 #include <frc/DigitalInput.h>
-#include <string>
+
 #include <memory>
+#include <string>
 
+#include "Wombat.h"
 
 struct MagConfig {
   wom::Gearbox magGearbox;
@@ -12,27 +17,22 @@ struct MagConfig {
   frc::DigitalInput* shooterSensor;
 };
 
-enum class MagState {
-  kIdle,
-  kHold,
-  kEject,
-  kRaw,
-  kPass
-};
+enum class MagState { kIdle, kHold, kEject, kRaw, kPass };
 
 class Mag : public behaviour::HasBehaviour {
-  public:
-    explicit Mag(MagConfig config);
-
-    void OnUpdate(units::second_t dt);
-    void SetState(MagState state);
-    void SetRaw(units::volt_t voltage);
-    MagState GetState();
-  private:
-    MagConfig _config;
-    MagState _state;
-    units::volt_t _rawVoltage = 0_V;
-    std::string _stringStateName = "No State";
-    units::volt_t _setVoltage = 0_V;
-    std::shared_ptr<nt::NetworkTable> _table = nt::NetworkTableInstance::GetDefault().GetTable("Magazine");
-};
+ public:
+  explicit Mag(MagConfig config);
+
+  void OnUpdate(units::second_t dt);
+  void SetState(MagState state);
+  void SetRaw(units::volt_t voltage);
+  MagState GetState();
+
+ private:
+  MagConfig _config;
+  MagState _state;
+  units::volt_t _rawVoltage = 0_V;
+  std::string _stringStateName = "No State";
+  units::volt_t _setVoltage = 0_V;
+  std::shared_ptr<nt::NetworkTable> _table = nt::NetworkTableInstance::GetDefault().GetTable("Magazine");
+};
diff --git a/src/main/include/Robot.h b/src/main/include/Robot.h
@@ -4,9 +4,8 @@
 
 #pragma once
 
-#include "behaviours/MagBehaviour.h"
-#include <frc/TimedRobot.h>
 #include <frc/Encoder.h>
+#include <frc/TimedRobot.h>
 #include <frc/Timer.h>
 #include <frc/event/EventLoop.h>
 #include <frc/simulation/DifferentialDrivetrainSim.h>
@@ -19,6 +18,7 @@
 
 #include "RobotMap.h"
 #include "Wombat.h"
+#include "behaviours/MagBehaviour.h"
 
 class Robot : public frc::TimedRobot {
  public:
@@ -37,7 +37,7 @@ class Robot : public frc::TimedRobot {
 
  private:
   behaviour::BehaviourScheduler* sched;
-  
+
   RobotMap robotmap;
 
   frc::EventLoop loop;
@@ -47,5 +47,5 @@ class Robot : public frc::TimedRobot {
   frc::SendableChooser<std::string> m_path_chooser;
 
   wom::SwerveDrive* _swerveDrive;
-  Mag *mag;
+  Mag* mag;
 };
diff --git a/src/main/include/RobotMap.h b/src/main/include/RobotMap.h
@@ -4,14 +4,10 @@
 
 #pragma once
 
-#include "mag.h"
-#include "Wombat.h"
-
-#include <frc/XboxController.h>
-#include <frc/DigitalInput.h>
-
 #include <frc/Compressor.h>
+#include <frc/DigitalInput.h>
 #include <frc/DoubleSolenoid.h>
+#include <frc/XboxController.h>
 #include <frc/system/plant/DCMotor.h>
 #include <units/angle.h>
 #include <units/length.h>
@@ -22,14 +18,17 @@
 #include <ctre/phoenix6/Pigeon2.hpp>
 #include <ctre/phoenix6/TalonFX.hpp>
 
+#include "Wombat.h"
+#include "mag.h"
+
 struct RobotMap {
   struct Controllers {
     frc::XboxController driver = frc::XboxController(0);
     frc::XboxController coDriver = frc::XboxController(1);
     frc::XboxController testController = frc::XboxController(2);
   };
   Controllers controllers;
-  
+
   struct SwerveBase {
     ctre::phoenix6::hardware::CANcoder frontLeftCancoder{19};
     ctre::phoenix6::hardware::CANcoder frontRightCancoder{17};
@@ -134,26 +133,21 @@ struct RobotMap {
   SwerveBase swerveBase;
 
   struct Mag {
-    rev::CANSparkMax *magMotor = new rev::CANSparkMax{99, rev::CANSparkMax::MotorType::kBrushless};
-    //wom::VoltageController magMotorGroup = wom::VoltageController::Group(magMotor);
+    rev::CANSparkMax* magMotor = new rev::CANSparkMax{99, rev::CANSparkMax::MotorType::kBrushless};
+    // wom::VoltageController magMotorGroup = wom::VoltageController::Group(magMotor);
     wom::CANSparkMaxEncoder magEncoder{magMotor, 0.1_m};
     frc::DigitalInput intakeSensor{0};
     frc::DigitalInput magSensor{1};
     frc::DigitalInput shooterSensor{1};
 
-    wom::Gearbox magGearbox {
-      magMotor,
-      &magEncoder,
-      frc::DCMotor::NEO(1)
-    };
+    wom::Gearbox magGearbox{magMotor, &magEncoder, frc::DCMotor::NEO(1)};
 
-    MagConfig config {
-       magGearbox,
-       &intakeSensor,
-       &magSensor,
-       &shooterSensor,
-     };
-  }; 
+    MagConfig config{
+        magGearbox,
+        &intakeSensor,
+        &magSensor,
+        &shooterSensor,
+    };
+  };
   Mag magSystem;
-
 };