style: format code with Ktlint

This commit fixes the style issues introduced in d98a47b according to the output
from Ktlint.

Details: #9

src/main/java/frc/robot/Robot.kt

@@ -3,26 +3,20 @@
 // the WPILib BSD license file in the root directory of this project.
 package frc.robot
 
-import com.ctre.phoenix6.SignalLogger
 import com.pathplanner.lib.commands.PathfindingCommand
-import com.pathplanner.lib.pathfinding.Pathfinding
 import edu.wpi.first.wpilibj.DriverStation
-import edu.wpi.first.wpilibj.IterativeRobotBase
 import edu.wpi.first.wpilibj.PowerDistribution
 import edu.wpi.first.wpilibj.TimedRobot
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.CommandScheduler
 
-
 class Robot : TimedRobot() {
     private var m_autonomousCommand: Command? = null
 
     private var m_robotContainer: RobotContainer? = null
 
     override fun robotInit() {
-
-
 //        if (isReal()) {
         PowerDistribution(1, PowerDistribution.ModuleType.kRev) // Enables power distribution logging
 //        }

src/main/java/frc/robot/RobotContainer.kt

@@ -66,8 +66,8 @@ class RobotContainer {
         NamedCommands.registerCommands(
             mapOf(
                 "extendArm" to Commands.run({ armSubsystem.extend(1.0) }, armSubsystem),
-                "retractArm" to Commands.run ({ armSubsystem.retract(1.0) }, armSubsystem),
-            )
+                "retractArm" to Commands.run({ armSubsystem.retract(1.0) }, armSubsystem),
+            ),
         )
     }
 
@@ -82,23 +82,27 @@ class RobotContainer {
 
         armSubsystem.defaultCommand = armSubsystem.getCommand {
             MathUtil.applyDeadband(
-                joystick.rightTriggerAxis - joystick.leftTriggerAxis, 0.1
+                joystick.rightTriggerAxis - joystick.leftTriggerAxis, 0.1,
             )
         }
 
-
         joystick.a().whileTrue(drivetrain.applyRequest { brake })
-        joystick.b().whileTrue(drivetrain.applyRequest {
-            point.withModuleDirection(
-                Rotation2d(
-                    -joystick.leftY, -joystick.leftX
+        joystick.b().whileTrue(
+            drivetrain.applyRequest {
+                point.withModuleDirection(
+                    Rotation2d(
+                        -joystick.leftY,
+                        -joystick.leftX,
+                    ),
                 )
-            )
-        })
+            },
+        )
 
-        joystick.pov(0).whileTrue(drivetrain.applyRequest { forwardStraight.withVelocityX(0.5).withVelocityY(0.0) }
+        joystick.pov(0).whileTrue(
+            drivetrain.applyRequest { forwardStraight.withVelocityX(0.5).withVelocityY(0.0) },
         )
-        joystick.pov(180).whileTrue(drivetrain.applyRequest { forwardStraight.withVelocityX(-0.5).withVelocityY(0.0) }
+        joystick.pov(180).whileTrue(
+            drivetrain.applyRequest { forwardStraight.withVelocityX(-0.5).withVelocityY(0.0) },
         )
 
         // Run SysId routines when holding back/start and X/Y.
@@ -121,6 +125,6 @@ class RobotContainer {
     }
 
     val autonomousCommand: Command
-        get() =/* First put the drivetrain into auto run mode, then run the auto */
+        get() = /* First put the drivetrain into auto run mode, then run the auto */
             autoChooser.selected
 }

src/main/java/frc/robot/Util/SwerveVoltageRequest.kt

@@ -7,7 +7,6 @@ import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveControlParameters
 import com.ctre.phoenix6.swerve.SwerveModule
 import com.ctre.phoenix6.swerve.SwerveRequest
 
-
 class SwerveVoltageRequest : SwerveRequest {
     private val m_motionMagicControl: MotionMagicVoltage = MotionMagicVoltage(0.0, false, 0.0, 0, false, false, false, false)
     private val m_voltageOutControl: VoltageOut = VoltageOut(0.0)

src/main/java/frc/robot/commands/GoToNoteCommand.kt

@@ -37,14 +37,17 @@ class GoToNoteCommand(
     override fun execute() {
         try {
             commandSwerveDrivetrain.setControl(
-                drive.withVelocityX(-drivePid.calculate(visionSubsystem.getNoteCamPitch() * TunerConstants.kSpeedAt12VoltsMps.`in`(
-                    Units.MetersPerSecond)))
+                drive.withVelocityX(
+                    -drivePid.calculate(
+                        visionSubsystem.getNoteCamPitch() * TunerConstants.kSpeedAt12VoltsMps.`in`(
+                            Units.MetersPerSecond,
+                        ),
+                    ),
+                )
                     .withVelocityY(0.0).withRotationalDeadband(0.1).withDeadband(1.0)
-                    .withRotationalRate(anglePid.calculate(visionSubsystem.getNoteCamYaw()) * 2 * PI)
+                    .withRotationalRate(anglePid.calculate(visionSubsystem.getNoteCamYaw()) * 2 * PI),
             )
         } finally {}
-
-
     }
 
     override fun isFinished(): Boolean {
@@ -57,6 +60,5 @@ class GoToNoteCommand(
     }
 
     override fun end(interrupted: Boolean) {
-
     }
 }

src/main/java/frc/robot/commands/PutArmDownCommand.kt

@@ -18,8 +18,9 @@ class PutArmDownCommand(private val armSubsystem: ArmSubsystem) : Command() {
 
     override fun execute() {
         armSubsystem.extend(1.0)
-        if (SmartDashboard.getNumber("Arm Max Current Limit", maxLimit) != maxLimit)
+        if (SmartDashboard.getNumber("Arm Max Current Limit", maxLimit) != maxLimit) {
             maxLimit = SmartDashboard.getNumber("Arm Max Current Limit", maxLimit)
+        }
     }
 
     override fun isFinished(): Boolean {

src/main/java/frc/robot/generated/TunerConstants.kt

@@ -54,9 +54,10 @@ object TunerConstants {
             CurrentLimitsConfigs() // Swerve azimuth does not require much torque output, so we can set a relatively low
                 // stator current limit to help avoid brownouts without impacting performance.
                 .withStatorCurrentLimit(Amps.of(60.0))
-                .withStatorCurrentLimitEnable(true)
+                .withStatorCurrentLimitEnable(true),
         )
     val cancoderInitialConfigs: CANcoderConfiguration = CANcoderConfiguration()
+
     // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
     val pigeonConfigs: Pigeon2Configuration? = null
 
@@ -70,7 +71,7 @@ object TunerConstants {
 
     private const val kDriveGearRatio = 6.746031746031747
     private const val kSteerGearRatio = 21.428571428571427
-    private val kWheelRadius: Distance = edu.wpi.first.units.Units.Inches.of( 4.0)
+    private val kWheelRadius: Distance = edu.wpi.first.units.Units.Inches.of(4.0)
 
     private const val kInvertLeftSide = false
     private const val kInvertRightSide = true
@@ -206,7 +207,11 @@ object TunerConstants {
      */
     fun createDrivetrain(): CommandSwerveDrivetrain {
         return CommandSwerveDrivetrain(
-            DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight
+            DrivetrainConstants,
+            FrontLeft,
+            FrontRight,
+            BackLeft,
+            BackRight,
         )
     }
 }

src/main/java/frc/robot/subsystems/ArmSubsystem.kt

@@ -6,7 +6,6 @@ import com.ctre.phoenix.motorcontrol.can.TalonSRX
 import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration
 import edu.wpi.first.math.controller.ArmFeedforward
 import edu.wpi.first.math.controller.PIDController
-import edu.wpi.first.networktables.GenericEntry
 import edu.wpi.first.networktables.NetworkTableEntry
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
 import edu.wpi.first.wpilibj2.command.Command
@@ -80,5 +79,4 @@ class ArmSubsystem : Subsystem {
 
     fun getSupplyCurrent(): Double = motor.supplyCurrent
     fun getOutputCurrent(): Double = motor.statorCurrent
-
 }

src/main/java/frc/robot/subsystems/vision/VisionSubsystem.kt

@@ -2,11 +2,7 @@ package frc.robot.subsystems.vision
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout
 import edu.wpi.first.apriltag.AprilTagFields
-import edu.wpi.first.math.Matrix
-import edu.wpi.first.math.VecBuilder
 import edu.wpi.first.math.geometry.*
-import edu.wpi.first.math.numbers.N1
-import edu.wpi.first.math.numbers.N3
 import edu.wpi.first.units.Units
 import edu.wpi.first.wpilibj.DriverStation.Alliance
 import edu.wpi.first.wpilibj.RobotBase
@@ -22,19 +18,18 @@ import java.util.*
 import kotlin.jvm.optionals.getOrNull
 import kotlin.math.abs
 
-
 object VisionSubsystem : SubsystemBase() {
     var alliance: Alliance? = null
     private val leftCam = PhotonCamera("Left Camera")
     private val rightCam = PhotonCamera("Right Camera")
     private val noteCam = PhotonCamera("ShitCam")
     private val botToLeftCamera = Transform3d(
         Translation3d(-2.25, 11.75, 7.5),
-        Rotation3d(Units.Degree.of(10.0).`in`(Units.Radian), 0.0, 0.0)
+        Rotation3d(Units.Degree.of(10.0).`in`(Units.Radian), 0.0, 0.0),
     ) // TODO get this value
     private val botToRightCamera = Transform3d(
         Translation3d(2.25, -11.75, 7.5),
-        Rotation3d(Units.Degree.of(-10.0).`in`(Units.Radian), 0.0, 0.0)
+        Rotation3d(Units.Degree.of(-10.0).`in`(Units.Radian), 0.0, 0.0),
     ) // TODO get this value
     private var enable = false
     private var trust = false
@@ -47,7 +42,6 @@ object VisionSubsystem : SubsystemBase() {
     private var leftPhotonPoseEstimator = PhotonPoseEstimator(aprilTagFieldLayout, PhotonPoseEstimator.PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, leftCam, botToLeftCamera)
     private val isSim = RobotBase.isSimulation()
 
-
     /** Creates a new Limelight.  */
     init {
         rightPhotonPoseEstimator.setMultiTagFallbackStrategy(PhotonPoseEstimator.PoseStrategy.LOWEST_AMBIGUITY)
@@ -57,22 +51,18 @@ object VisionSubsystem : SubsystemBase() {
         SmartDashboard.putNumber("Limelight Error", distanceError.toDouble())
     }
 
-
-
-
     /**
      * Calculates standard deviations for the right camera based on the number of targets detected. Heuristic.
      */
     private fun updateLeftEstimationStdDevs(
         visionEst: Optional<EstimatedRobotPose>,
-        targets: List<PhotonTrackedTarget>) {
-
+        targets: List<PhotonTrackedTarget>,
+    ) {
     }
 
     // singleton class
     val instance: VisionSubsystem = VisionSubsystem
 
-
     fun useLimelight(enable: Boolean) {
         this.enable = enable
     }
@@ -82,27 +72,33 @@ object VisionSubsystem : SubsystemBase() {
     }
 
     override fun periodic() {
-
     }
 
     fun getNoteCamYaw(): Double {
         try {
             if (!isSim) {
-                return if (noteCam.getLatestResult().getBestTarget() != null) noteCam.getLatestResult()
-                    .getBestTarget().yaw else 0.0
+                return if (noteCam.getLatestResult().getBestTarget() != null) {
+                    noteCam.getLatestResult()
+                        .getBestTarget().yaw
+                } else {
+                    0.0
+                }
             } else {
                 return 0.0
             }
         } finally {
-
         }
     }
 
     fun getNoteCamPitch(): Double {
         try {
             if (!isSim) {
-                return if (noteCam.getLatestResult().getBestTarget() != null) noteCam.getLatestResult()
-                    .getBestTarget().pitch else 0.0
+                return if (noteCam.getLatestResult().getBestTarget() != null) {
+                    noteCam.getLatestResult()
+                        .getBestTarget().pitch
+                } else {
+                    0.0
+                }
             } else {
                 return 0.0
             }
@@ -126,7 +122,7 @@ object VisionSubsystem : SubsystemBase() {
         }
     }
 
-        private val field = RectanglePoseArea(Translation2d(0.0, 0.0), Translation2d(16.54, 8.02))
+    private val field = RectanglePoseArea(Translation2d(0.0, 0.0), Translation2d(16.54, 8.02))
 
     @JvmStatic
     fun updateLeft(): EstimatedRobotPose? {
@@ -145,6 +141,4 @@ object VisionSubsystem : SubsystemBase() {
     fun getRightResult(): PhotonPipelineResult? {
         return rightCam.latestResult
     }
-
-
 }