changed controller name, formatting

FRC5190 · Feb 22, 2024 · e1ae9b1 · e1ae9b1
1 parent d1013a0
commit e1ae9b1
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/src/main/java/org/ghrobotics/frc2024/CANCoderSwerve.java b/src/main/java/org/ghrobotics/frc2024/CANCoderSwerve.java
@@ -54,9 +54,9 @@ public void configure(boolean inverted) {
     MagnetSensorConfigs  magnetSensorConfiguration = new MagnetSensorConfigs();
     cfg.refresh(magnetSensorConfiguration);
     cfg.apply(magnetSensorConfiguration
-                  .withAbsoluteSensorRange(AbsoluteSensorRangeValue.Signed_PlusMinusHalf)
-                  .withSensorDirection(inverted ? SensorDirectionValue.Clockwise_Positive
-                                                : SensorDirectionValue.CounterClockwise_Positive));
+      .withAbsoluteSensorRange(AbsoluteSensorRangeValue.Signed_PlusMinusHalf)
+        .withSensorDirection(inverted ? SensorDirectionValue.Clockwise_Positive
+          : SensorDirectionValue.CounterClockwise_Positive));
   }
 
   /**

diff --git a/src/main/java/org/ghrobotics/frc2024/Robot.java b/src/main/java/org/ghrobotics/frc2024/Robot.java
@@ -24,11 +24,11 @@ public class Robot extends TimedRobot {
   private final RobotState robot_state_ = new RobotState(drive_);
 
   // Xbox Controller
-  private final CommandXboxController controller_ = new CommandXboxController(0);
+  private final CommandXboxController driver_controller_ = new CommandXboxController(0);
 
   @Override
   public void robotInit() {
-    drive_.setDefaultCommand(new DriveTeleop(drive_, robot_state_, controller_));
+    drive_.setDefaultCommand(new DriveTeleop(drive_, robot_state_, driver_controller_));
   }
 
   @Override

diff --git a/src/main/java/org/ghrobotics/frc2024/subsystems/SwerveModule.java b/src/main/java/org/ghrobotics/frc2024/subsystems/SwerveModule.java
@@ -75,7 +75,7 @@ public double getDrivePosition() {
   // Get Steer Position
   public Rotation2d getSteerPosition() {
     return new Rotation2d(
-    Math.IEEEremainder(steer_encoder_.getPosition(), 2 * Math.PI));
+      Math.IEEEremainder(steer_encoder_.getPosition(), 2 * Math.PI));
   }
 
   // Get Module Position
@@ -121,7 +121,7 @@ public void setAngle(double desired_angle_degs) {
 
     // Set steer angle
     double steering_correction = steer_pid_controller_.calculate(
-    getSteerPosition().getRadians(), desired_angle_rad);
+      getSteerPosition().getRadians(), desired_angle_rad);
     steer_motor_.set(steering_correction);
   }