Shahar: spaces mostly

GreenBlitz · Aug 7, 2024 · 4857c24 · 4857c24
1 parent 5b72e63
commit 4857c24
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Showing 14 changed files with 4 additions and 17 deletions.
diff --git a/src/main/java/training/Elbow/Elbow.java b/src/main/java/training/Elbow/Elbow.java
@@ -58,5 +58,4 @@ protected void subsystemPeriodic() {
 		iElbow.moveToAngle(targetAngle);
 	}
 
-
 }
diff --git a/src/main/java/training/Elbow/ElbowConstants.java b/src/main/java/training/Elbow/ElbowConstants.java
@@ -6,7 +6,7 @@ public class ElbowConstants {
 
 	// * These constants are temp and shall be replaced with calibrated constants that aren't 0
 
-	protected static final String LOG_PATH = "";
+	protected static final String LOG_PATH = "Elbow/";
 
 
 	public static final Rotation2d DEFAULT_POSITION = new Rotation2d(1, 1);
@@ -23,5 +23,4 @@ public class ElbowConstants {
 
 	protected static final Rotation2d TOLERANCE = new Rotation2d(0);
 
-
 }
diff --git a/src/main/java/training/Elbow/IElbow.java b/src/main/java/training/Elbow/IElbow.java
@@ -10,5 +10,4 @@ public interface IElbow {
 
 	Rotation2d getCurrentVelocity();
 
-
 }
diff --git a/src/main/java/training/Elbow/NeoElbow/BrokenNeoElbow.java b/src/main/java/training/Elbow/NeoElbow/BrokenNeoElbow.java
@@ -17,7 +17,7 @@ public BrokenNeoElbow() {
 		motor.getPIDController().setP(NeoElbowConstants.PID_CONTROLLER.getP());
 		motor.getPIDController().setD(NeoElbowConstants.PID_CONTROLLER.getD());
 		motor.getPIDController().setI(NeoElbowConstants.PID_CONTROLLER.getI());
-		motor.getPIDController().setOutputRange(-NeoElbowConstants.LOWER_POWER_LIMIT, NeoElbowConstants.UPPER_POWER_LIMIT);
+		motor.getPIDController().setOutputRange(NeoElbowConstants.LOWER_POWER_LIMIT, NeoElbowConstants.UPPER_POWER_LIMIT);
 		motor.getPIDController().setPositionPIDWrappingMaxInput(1);
 		motor.getPIDController().setPositionPIDWrappingMinInput(0);
 		motor.getPIDController().getPositionPIDWrappingEnabled();
@@ -36,7 +36,7 @@ public Rotation2d getCurrentVelocity() {
 	@Override
 	public void moveToAngle(Rotation2d targetAngle) {
 		double targetAngleRotations = targetAngle.getRotations() % 1;
-		double feedForwardOutputVoltage = NeoElbowConstants.NEO_FEEDFORWARD
+		double feedForwardOutputVoltage = NeoElbowConstants.FEEDFORWARD
 			.calculate(getCurrentAngle().getRadians(), motor.getEncoder().getVelocity());
 
 		motor.getPIDController()

diff --git a/src/main/java/training/Elbow/NeoElbow/NeoElbowConstants.java b/src/main/java/training/Elbow/NeoElbow/NeoElbowConstants.java
@@ -13,7 +13,7 @@ public class NeoElbowConstants {
 
 	protected static final PIDController PID_CONTROLLER = new PIDController(0, 0, 0);
 
-	protected static final ArmFeedforward NEO_FEEDFORWARD = new ArmFeedforward(0, 0, 0, 0); // Keep kV and kA 0
+	protected static final ArmFeedforward FEEDFORWARD = new ArmFeedforward(0, 0, 0, 0); // Keep kV and kA 0
 
 
 	protected static final double ELBOW_GEAR_RATIO = (double) 250 / 7;

diff --git a/src/main/java/training/Roller/IRoller.java b/src/main/java/training/Roller/IRoller.java
@@ -12,6 +12,5 @@ public interface IRoller {
 
 	void updateVelocity(Rotation2d targetVelocity);
 
-
 }
 
diff --git a/src/main/java/training/Roller/RollerCommandBuilder.java b/src/main/java/training/Roller/RollerCommandBuilder.java
@@ -29,5 +29,4 @@ public Command rollForward() {
 		return new InstantCommand(roller::rollForward, roller);
 	}
 
-
 }
diff --git a/src/main/java/training/Roller/RollerConstants.java b/src/main/java/training/Roller/RollerConstants.java
@@ -11,6 +11,4 @@ public class RollerConstants {
 
 	protected static final Rotation2d DEFAULT_VELOCITY = Rotation2d.fromRotations(0);
 
-	// * Simulation
-
 }
diff --git a/src/main/java/training/Wrist/IWrist.java b/src/main/java/training/Wrist/IWrist.java
@@ -8,5 +8,4 @@ public interface IWrist {
 
 	void moveToAngle(Rotation2d targetAngle);
 
-
 }
diff --git a/src/main/java/training/Wrist/NeoWrist/NeoWrist.java b/src/main/java/training/Wrist/NeoWrist/NeoWrist.java
@@ -33,5 +33,4 @@ public void moveToAngle(Rotation2d targetAngle) {
 		motor.setSelectedSensorPosition(targetAngle.getRotations());
 	}
 
-
 }
diff --git a/src/main/java/training/Wrist/NeoWrist/WristConstants.java b/src/main/java/training/Wrist/NeoWrist/WristConstants.java
@@ -16,5 +16,4 @@ public class WristConstants {
 
 	protected static final int ID = 4;
 
-
 }
diff --git a/src/main/java/training/Wrist/SimulationWrist/SimulationWristConstants.java b/src/main/java/training/Wrist/SimulationWrist/SimulationWristConstants.java
@@ -14,5 +14,4 @@ public class SimulationWristConstants {
 
 	protected static final double POWER_LIMIT = 0.9; // limit both min and max
 
-
 }
diff --git a/src/main/java/training/Wrist/Wrist.java b/src/main/java/training/Wrist/Wrist.java
@@ -39,5 +39,4 @@ protected void subsystemPeriodic() {
 		iWrist.moveToAngle(targetAngle);
 	}
 
-
 }
diff --git a/src/main/java/training/Wrist/WristConstants.java b/src/main/java/training/Wrist/WristConstants.java
@@ -12,5 +12,4 @@ public class WristConstants {
 
 	protected static final Rotation2d LOWER_POSITION = new Rotation2d(0);
 
-
 }
Original file line number	Diff line number	Diff line change
Expand Up		@@ -58,5 +58,4 @@ protected void subsystemPeriodic() {
		iElbow.moveToAngle(targetAngle);
		}


		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -10,5 +10,4 @@ public interface IElbow {

		Rotation2d getCurrentVelocity();


		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -12,6 +12,5 @@ public interface IRoller {

		void updateVelocity(Rotation2d targetVelocity);


		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -29,5 +29,4 @@ public Command rollForward() {
		return new InstantCommand(roller::rollForward, roller);
		}


		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -11,6 +11,4 @@ public class RollerConstants {

		protected static final Rotation2d DEFAULT_VELOCITY = Rotation2d.fromRotations(0);

		// * Simulation

		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -8,5 +8,4 @@ public interface IWrist {

		void moveToAngle(Rotation2d targetAngle);


		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -33,5 +33,4 @@ public void moveToAngle(Rotation2d targetAngle) {
		motor.setSelectedSensorPosition(targetAngle.getRotations());
		}


		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -16,5 +16,4 @@ public class WristConstants {

		protected static final int ID = 4;


		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -14,5 +14,4 @@ public class SimulationWristConstants {

		protected static final double POWER_LIMIT = 0.9; // limit both min and max


		}
Original file line number	Diff line number	Diff line change
Expand Up		@@ -39,5 +39,4 @@ protected void subsystemPeriodic() {
		iWrist.moveToAngle(targetAngle);
		}


		}