Fix syntax error and format with Spotless

team581 · Aug 21, 2024 · d0f75ff · d0f75ff
1 parent 6e1a00c
commit d0f75ff
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Showing 2 changed files with 27 additions and 33 deletions.
diff --git a/src/main/java/frc/robot/arm/ArmAngle.java b/src/main/java/frc/robot/arm/ArmAngle.java
@@ -7,6 +7,5 @@ public class ArmAngle {
   public static final Rotation2d DROP = Rotation2d.fromDegrees(5);
   public static final Rotation2d PODIUM = Rotation2d.fromDegrees(20);
   public static final Rotation2d IDLE = Rotation2d.fromDegrees(0);
-  public static final Rotation2d CLIMBING=Rotation2d.fromDegrees(30);
-
+  public static final Rotation2d CLIMBING = Rotation2d.fromDegrees(30);
 }
diff --git a/src/main/java/frc/robot/arm/ArmSubsystem.java b/src/main/java/frc/robot/arm/ArmSubsystem.java
@@ -1,14 +1,9 @@
 package frc.robot.arm;
 
-import javax.swing.text.Position;
-
 import com.ctre.phoenix6.controls.PositionVoltage;
-import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
-
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
-import frc.robot.queuer.QueuerState;
 import frc.robot.util.scheduling.SubsystemPriority;
 import frc.robot.util.state_machines.StateMachine;
 
@@ -22,53 +17,53 @@ public class ArmSubsystem extends StateMachine<ArmState> {
   private final PositionVoltage positionRequest =
       new PositionVoltage(0).withEnableFOC(false).withLimitReverseMotion(false);
 
-
-  public void setAngleToSpeaker(double angle){
+  public void setAngleToSpeaker(double angle) {
     angleToSpeaker = angle;
   }
-  public void setAngleToFeedSpot(double angle){
+
+  public void setAngleToFeedSpot(double angle) {
     angleToFeedSpot = angle;
   }
 
-
   public ArmSubsystem(TalonFX motor) {
     super(SubsystemPriority.ARM, ArmState.IDLE);
-    this.motor=motor;
-    speakerDistanceToAngle.put(123.0,321.0);
-    feedSpotDistanceToAngle.put(123.0,321.0);
-
+    this.motor = motor;
+    speakerDistanceToAngle.put(123.0, 321.0);
+    feedSpotDistanceToAngle.put(123.0, 321.0);
   }
-  public void setState(ArmState newState){
+
+  public void setState(ArmState newState) {
     setStateFromRequest(newState);
   }
-  public boolean atGoal(){
-    return switch (getState()){
-      case IDLE->MathUtil.isNear.(ArmAngle.IDLE.getDegrees(),armAngle,1);
-      case SPEAKER_SHOT->MathUtil.isNear(speakerDistanceToAngle.get(angleToSpeaker),armAngle,1);
-      case DROP->MathUtil.isNear(ArmAngle.DROP,armAngle,1);
-      case SUBWOOFER_SHOT->MathUtil.isNear(ArmAngle.SUBWOOFER,armAngle,1);
-      case FEEDING->MathUtil.isNear(feedSpotDistanceToAngle.get(angleToFeedSpot),armAngle,1);
-      case PODIUM_SHOT->MathUtil.isNear(ArmAngle.PODIUM,armAngle,1);
-      case CLIMBING->MathUtil.isNear(ArmAngle.CLIMBING,armAngle,1);
 
+  public boolean atGoal() {
+    return switch (getState()) {
+      case IDLE -> MathUtil.isNear(ArmAngle.IDLE.getDegrees(), armAngle, 1);
+      case SPEAKER_SHOT -> MathUtil.isNear(speakerDistanceToAngle.get(angleToSpeaker), armAngle, 1);
+      case DROP -> MathUtil.isNear(ArmAngle.DROP, armAngle, 1);
+      case SUBWOOFER_SHOT -> MathUtil.isNear(ArmAngle.SUBWOOFER, armAngle, 1);
+      case FEEDING -> MathUtil.isNear(feedSpotDistanceToAngle.get(angleToFeedSpot), armAngle, 1);
+      case PODIUM_SHOT -> MathUtil.isNear(ArmAngle.PODIUM, armAngle, 1);
+      case CLIMBING -> MathUtil.isNear(ArmAngle.CLIMBING, armAngle, 1);
     };
   }
 
   @Override
-  protected void collectInputs(){
-    armAngle = motor.getPosition().getValueAsDouble();//is get position get angle??
+  protected void collectInputs() {
+    armAngle = motor.getPosition().getValueAsDouble(); // is get position get angle??
   }
+
   @Override
-  protected void afterTransition(ArmState newState){
-    switch(newState){
+  protected void afterTransition(ArmState newState) {
+    switch (newState) {
       case IDLE -> motor.disable();
-      case CLIMBING->motor.setControl(positionRequest.withPosition(ArmAngle.CLIMBING));
-      case DROP->motor.setControl(positionRequest.withPosition(ArmAngle.DROP));
+      case CLIMBING -> motor.setControl(positionRequest.withPosition(ArmAngle.CLIMBING));
+      case DROP -> motor.setControl(positionRequest.withPosition(ArmAngle.DROP));
     }
   }
+
   @Override
-  public void robotPeriodic(){
+  public void robotPeriodic() {
     super.robotPeriodic();
   }
-
 }