From 2dd37bb906c44c849c2972d38351a6b9fb8f03ce Mon Sep 17 00:00:00 2001
From: Hayden Heroux <haydenheroux@gmail.com>
Date: Tue, 2 Apr 2024 17:00:22 -0400
Subject: [PATCH] chore: Format.

---
 src/main/java/frc/robot/arm/Arm.java                       | 3 +--
 src/main/java/frc/robot/arm/ArmConstants.java              | 2 +-
 src/main/java/frc/robot/arm/ShoulderMotorIOTalonFX.java    | 7 ++++---
 src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java   | 3 +--
 .../frc/robot/superstructure/SuperstructureMechanism.java  | 6 +-----
 5 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/src/main/java/frc/robot/arm/Arm.java b/src/main/java/frc/robot/arm/Arm.java
index ec14ef5..2b6f295 100644
--- a/src/main/java/frc/robot/arm/Arm.java
+++ b/src/main/java/frc/robot/arm/Arm.java
@@ -1,7 +1,5 @@
 package frc.robot.arm;
 
-import java.util.function.DoubleSupplier;
-
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import edu.wpi.first.math.util.Units;
@@ -12,6 +10,7 @@
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
 import frc.robot.arm.ShoulderMotorIO.ShoulderMotorIOValues;
+import java.util.function.DoubleSupplier;
 
 /** Subsystem class for the arm subsystem. */
 public class Arm extends Subsystem {
diff --git a/src/main/java/frc/robot/arm/ArmConstants.java b/src/main/java/frc/robot/arm/ArmConstants.java
index ade0089..d8c7f14 100644
--- a/src/main/java/frc/robot/arm/ArmConstants.java
+++ b/src/main/java/frc/robot/arm/ArmConstants.java
@@ -1,4 +1,4 @@
 package frc.robot.arm;
 
 /** Constants for the arm subsystem. */
-public class ArmConstants {}
\ No newline at end of file
+public class ArmConstants {}
diff --git a/src/main/java/frc/robot/arm/ShoulderMotorIOTalonFX.java b/src/main/java/frc/robot/arm/ShoulderMotorIOTalonFX.java
index d2b94f0..a87429b 100644
--- a/src/main/java/frc/robot/arm/ShoulderMotorIOTalonFX.java
+++ b/src/main/java/frc/robot/arm/ShoulderMotorIOTalonFX.java
@@ -4,7 +4,6 @@
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.util.Units;
@@ -50,7 +49,8 @@ public void configure() {
   public void update(ShoulderMotorIOValues values) {
     values.positionRotations = getAbsolutePositionRotations();
     values.velocityRotationsPerSecond = westTalonFX.getVelocity().refresh().getValue();
-    values.accelerationRotationsPerSecondPerSecond = westTalonFX.getAcceleration().refresh().getValue();
+    values.accelerationRotationsPerSecondPerSecond =
+        westTalonFX.getAcceleration().refresh().getValue();
 
     values.currentAmps = westTalonFX.getStatorCurrent().refresh().getValue();
     values.inputVoltage = westTalonFX.getMotorVoltage().refresh().getValue();
@@ -69,7 +69,8 @@ public void setSetpoint(double positionRotations, double velocityRotationsPerSec
     double feedbackVolts = feedback.calculate(measuredPositionRotations, positionRotations);
 
     double feedforwardVolts =
-        feedforward.calculate(Units.rotationsToRadians(measuredPositionRotations), velocityRotationsPerSecond);
+        feedforward.calculate(
+            Units.rotationsToRadians(measuredPositionRotations), velocityRotationsPerSecond);
 
     setVoltage(feedbackVolts + feedforwardVolts);
   }
diff --git a/src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java b/src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java
index 2d94863..6644005 100644
--- a/src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java
+++ b/src/main/java/frc/robot/intake/RollerMotorIOTalonFX.java
@@ -1,16 +1,15 @@
 package frc.robot.intake;
 
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import frc.lib.Configurator;
 
 /** Roller motor using a TalonFX. */
 public class RollerMotorIOTalonFX implements RollerMotorIO {
 
   private final TalonFX topTalonFX, bottomTalonFX;
-
   private final SimpleMotorFeedforward topFeedforward, bottomFeedforward;
 
   public RollerMotorIOTalonFX() {
diff --git a/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java b/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java
index ee8cf3b..c813511 100644
--- a/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java
+++ b/src/main/java/frc/robot/superstructure/SuperstructureMechanism.java
@@ -78,11 +78,7 @@ private SuperstructureMechanism() {
     shoulder =
         shoulderBase.append(
             new MechanismLigament2d(
-                "shoulder",
-                Units.inchesToMeters(16.775),
-                0,
-                armThickness,
-                DEFAULT_COLOR));
+                "shoulder", Units.inchesToMeters(16.775), 0, armThickness, DEFAULT_COLOR));
 
     flywheel =
         shoulder.append(