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umrover · Apr 18, 2024 · 4319cd6 · 4319cd6
1 parent aa933ab
commit 4319cd6
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Showing 4 changed files with 11 additions and 13 deletions.
diff --git a/src/perception/tag_detector/zed/pch.hpp b/src/perception/tag_detector/zed/pch.hpp
@@ -10,7 +10,6 @@
 #include <numeric>
 #include <optional>
 #include <string>
-#include <format>
 #include <type_traits>
 #include <unordered_map>
 

diff --git a/src/util/hardware_adc.hpp b/src/util/hardware_adc.hpp
@@ -26,14 +26,14 @@ namespace mrover {
             return m_values.at(channel);
         }
 
-		void update() {
-			HAL_ADC_Start_DMA(m_hadc, reinterpret_cast<uint32_t*>(m_values.data()), m_channels);
-		}
-
-	private:
-		ADC_HandleTypeDef* m_hadc;
-		uint8_t m_channels;
-		std::vector<uint32_t> m_values;
-	};
+        void update() {
+            HAL_ADC_Start_DMA(m_hadc, reinterpret_cast<uint32_t*>(m_values.data()), m_channels);
+        }
+
+    private:
+        ADC_HandleTypeDef* m_hadc;
+        uint8_t m_channels;
+        std::vector<uint32_t> m_values;
+    };
 
 } // namespace mrover
diff --git a/src/util/hardware_i2c.hpp b/src/util/hardware_i2c.hpp
@@ -39,8 +39,8 @@ namespace mrover {
             // TODO(quintin): Error handling? Shouldn't this return an optional
             if (TReceive receive{}; HAL_I2C_Master_Receive(m_i2c, address << 1 | 1, address_of<std::uint8_t>(receive), sizeof(receive), I2C_TIMEOUT) != HAL_OK) {
                 return std::nullopt;
-            } else{
-            	return receive;
+            } else {
+                return receive;
             }
         }
 

diff --git a/src/util/params_utils.hpp b/src/util/params_utils.hpp
@@ -7,7 +7,6 @@
 #include <stdexcept>
 #include <string>
 
-#include <ros/node_handle.h>
 #include <XmlRpcValue.h>
 #include <ros/node_handle.h>