From e63166c83c5c5010570a309a9663a7a51903002a Mon Sep 17 00:00:00 2001 From: "deepsource-autofix[bot]" <62050782+deepsource-autofix[bot]@users.noreply.github.com> Date: Tue, 12 Nov 2024 20:39:13 +0000 Subject: [PATCH] style: format code with Ktlint This commit fixes the style issues introduced in 050fbb2 according to the output from Ktlint. Details: None --- src/main/java/frc/robot/Robot.kt | 4 +- src/main/java/frc/robot/RobotContainer.kt | 4 +- .../drive/CommandSwerveDrivetrain.kt | 108 ++++++++++-------- .../vision/BetterVisionSubsystem.kt | 50 ++++---- 4 files changed, 89 insertions(+), 77 deletions(-) diff --git a/src/main/java/frc/robot/Robot.kt b/src/main/java/frc/robot/Robot.kt index e485916..1807984 100755 --- a/src/main/java/frc/robot/Robot.kt +++ b/src/main/java/frc/robot/Robot.kt @@ -16,8 +16,6 @@ class Robot : TimedRobot() { private var m_robotContainer: RobotContainer? = null - - init { // if (isReal()) { PowerDistribution(1, PowerDistribution.ModuleType.kRev) // Enables power distribution logging @@ -93,7 +91,7 @@ class Robot : TimedRobot() { companion object { fun sim(): Boolean { - return isSimulation() + return isSimulation() } } } diff --git a/src/main/java/frc/robot/RobotContainer.kt b/src/main/java/frc/robot/RobotContainer.kt index 37733fb..0b11ac8 100755 --- a/src/main/java/frc/robot/RobotContainer.kt +++ b/src/main/java/frc/robot/RobotContainer.kt @@ -113,7 +113,6 @@ class RobotContainer { // reset the field-centric heading on left bumper press joystick.leftBumper().onTrue(drivetrain.runOnce { drivetrain::resetPose }) - drivetrain.registerTelemetry { state: SwerveDriveState? -> if (state != null) { logger.telemeterize(state) @@ -125,11 +124,10 @@ class RobotContainer { get() = /* First put the drivetrain into auto run mode, then run the auto */ autoChooser.selected - fun updatePoseEstimation() { var visionEst = visionSubsystem.leftEstimatedGlobalPose visionEst.ifPresent { - est -> + est -> run { var leftEstStdDevs = visionSubsystem.leftEstimationStdDevs diff --git a/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.kt b/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.kt index e26df92..b5ddcfe 100755 --- a/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.kt +++ b/src/main/java/frc/robot/subsystems/drive/CommandSwerveDrivetrain.kt @@ -13,12 +13,9 @@ import com.pathplanner.lib.config.RobotConfig import com.pathplanner.lib.controllers.PPHolonomicDriveController import com.pathplanner.lib.util.DriveFeedforwards import edu.wpi.first.math.Matrix -import edu.wpi.first.math.VecBuilder import edu.wpi.first.math.controller.PIDController -import edu.wpi.first.math.geometry.Pose2d import edu.wpi.first.math.geometry.Rotation2d import edu.wpi.first.math.geometry.Translation2d -import edu.wpi.first.math.geometry.Translation3d import edu.wpi.first.math.kinematics.ChassisSpeeds import edu.wpi.first.math.numbers.N1 import edu.wpi.first.math.numbers.N3 @@ -28,8 +25,6 @@ import edu.wpi.first.wpilibj.DriverStation import edu.wpi.first.wpilibj.DriverStation.Alliance import edu.wpi.first.wpilibj.Notifier import edu.wpi.first.wpilibj.RobotController -import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard -import edu.wpi.first.wpilibj.smartdashboard.Field2d import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard import edu.wpi.first.wpilibj.sysid.SysIdRoutineLog import edu.wpi.first.wpilibj2.command.Command @@ -51,7 +46,6 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { private var thetaController: PIDController = PIDController(1.1, 0.0, 0.125) // TODO tune this - /* Keep track if we've ever applied the operator perspective before or not */ private var m_hasAppliedOperatorPerspective = false @@ -66,28 +60,33 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */ private val m_sysIdRoutineTranslation = SysIdRoutine( SysIdRoutine.Config( - null, // Use default ramp rate (1 V/s) - Units.Volts.of(4.0), // Reduce dynamic step voltage to 4 V to prevent brownout - null - ) // Use default timeout (10 s) - // Log state with SignalLogger class - { state: SysIdRoutineLog.State -> SignalLogger.writeString("SysIdTranslation_State", state.toString()) }, + null, // Use default ramp rate (1 V/s) + Units.Volts.of(4.0), // Reduce dynamic step voltage to 4 V to prevent brownout + null, + ) // Use default timeout (10 s) + // Log state with SignalLogger class + { state: SysIdRoutineLog.State -> SignalLogger.writeString("SysIdTranslation_State", state.toString()) }, Mechanism( - { output: Voltage? -> setControl(m_translationCharacterization.withVolts(output)) }, null, this - ) + { output: Voltage? -> setControl(m_translationCharacterization.withVolts(output)) }, + null, + this, + ), ) /* SysId routine for characterizing steer. This is used to find PID gains for the steer motors. */ private val m_sysIdRoutineSteer = SysIdRoutine( SysIdRoutine.Config( - null, // Use default ramp rate (1 V/s) - Units.Volts.of(7.0), // Use dynamic voltage of 7 V - null - ) // Use default timeout (10 s) - // Log state with SignalLogger class - { state: SysIdRoutineLog.State -> SignalLogger.writeString("SysIdSteer_State", state.toString()) }, Mechanism( - { volts: Voltage? -> setControl(m_steerCharacterization.withVolts(volts)) }, null, this - ) + null, // Use default ramp rate (1 V/s) + Units.Volts.of(7.0), // Use dynamic voltage of 7 V + null, + ) // Use default timeout (10 s) + // Log state with SignalLogger class + { state: SysIdRoutineLog.State -> SignalLogger.writeString("SysIdSteer_State", state.toString()) }, + Mechanism( + { volts: Voltage? -> setControl(m_steerCharacterization.withVolts(volts)) }, + null, + this, + ), ) /* @@ -98,18 +97,21 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { private val m_sysIdRoutineRotation = SysIdRoutine( SysIdRoutine.Config( /* This is in radians per second², but SysId only supports "volts per second" */ Units.Volts.of(Math.PI / 6) - .per(Units.Second), /* This is in radians per second, but SysId only supports "volts" */ - Units.Volts.of(Math.PI), null - ) // Use default timeout (10 s) - // Log state with SignalLogger class - { state: SysIdRoutineLog.State -> SignalLogger.writeString("SysIdRotation_State", state.toString()) }, + .per(Units.Second), /* This is in radians per second, but SysId only supports "volts" */ + Units.Volts.of(Math.PI), + null, + ) // Use default timeout (10 s) + // Log state with SignalLogger class + { state: SysIdRoutineLog.State -> SignalLogger.writeString("SysIdRotation_State", state.toString()) }, Mechanism( { output: Voltage -> /* output is actually radians per second, but SysId only supports "volts" */ - setControl(m_rotationCharacterization.withRotationalRate(output.`in`(Units.Volts)))/* also log the requested output for SysId */ + setControl(m_rotationCharacterization.withRotationalRate(output.`in`(Units.Volts))) /* also log the requested output for SysId */ SignalLogger.writeDouble("Rotational_Rate", output.`in`(Units.Volts)) - }, null, this - ) + }, + null, + this, + ), ) /* The SysId routine to test */ @@ -127,7 +129,8 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { * @param modules Constants for each specific module */ constructor(drivetrainConstants: SwerveDrivetrainConstants, vararg modules: SwerveModuleConstants?) : super( - drivetrainConstants, *modules + drivetrainConstants, + *modules, ) { if (Utils.isSimulation()) { startSimThread() @@ -177,11 +180,17 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { * @param modules Constants for each specific module */ constructor( - drivetrainConstants: SwerveDrivetrainConstants, odometryUpdateFrequency: Double, - odometryStandardDeviation: Matrix, visionStandardDeviation: Matrix, + drivetrainConstants: SwerveDrivetrainConstants, + odometryUpdateFrequency: Double, + odometryStandardDeviation: Matrix, + visionStandardDeviation: Matrix, vararg modules: SwerveModuleConstants?, ) : super( - drivetrainConstants, odometryUpdateFrequency, odometryStandardDeviation, visionStandardDeviation, *modules + drivetrainConstants, + odometryUpdateFrequency, + odometryStandardDeviation, + visionStandardDeviation, + *modules, ) { if (Utils.isSimulation()) { startSimThread() @@ -193,24 +202,24 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { try { val config = RobotConfig.fromGUISettings() AutoBuilder.configure( - { state.Pose }, // Supplier of current robot pose - this::resetPose, // Consumer for seeding pose against auto - { state.Speeds }, // Supplier of current robot speeds + { state.Pose }, // Supplier of current robot pose + this::resetPose, // Consumer for seeding pose against auto + { state.Speeds }, // Supplier of current robot speeds // Consumer of ChassisSpeeds and feedforwards to drive the robot { speeds: ChassisSpeeds?, feedforwards: DriveFeedforwards -> setControl( m_applyRobotSpeeds.withSpeeds(speeds) .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons()) - .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons()) + .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons()), ) }, PPHolonomicDriveController( - PIDConstants(0.5, 0.0, 0.0), // PID constants for translation - PIDConstants(5.0, 0.0, 0.0) // PID constants for rotation + PIDConstants(0.5, 0.0, 0.0), // PID constants for translation + PIDConstants(5.0, 0.0, 0.0), // PID constants for rotation ), - config, // Assume the path needs to be flipped for Red vs Blue, this is normally the case + config, // Assume the path needs to be flipped for Red vs Blue, this is normally the case { DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red }, - this // Subsystem for requirements + this, // Subsystem for requirements ) } catch (ex: Exception) { DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.stackTrace) @@ -266,7 +275,8 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { val field: RectanglePoseArea = RectanglePoseArea(Translation2d(0.0, 0.0), Translation2d(16.54, 8.02)) - override fun periodic() {/* + override fun periodic() { + /* * Periodically try to apply the operator perspective. * If we haven't applied the operator perspective before, then we should apply it regardless of DS state. * This allows us to correct the perspective in case the robot code restarts mid-match. @@ -276,14 +286,16 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) { DriverStation.getAlliance().ifPresent { allianceColor: Alliance -> setOperatorPerspectiveForward( - if (allianceColor == Alliance.Red) kRedAlliancePerspectiveRotation - else kBlueAlliancePerspectiveRotation + if (allianceColor == Alliance.Red) { + kRedAlliancePerspectiveRotation + } else { + kBlueAlliancePerspectiveRotation + }, ) m_hasAppliedOperatorPerspective = true } } - // if (VisionSubsystem.instance.getLeftResult().hasTargets()) { // var left = VisionSubsystem.instance.updateLeft() // var dist = VisionSubsystem.instance.getLeftResult().bestTarget.bestCameraToTarget.translation.getDistance(Translation3d()) @@ -316,8 +328,6 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { // } // } // } - - } // fun addVisionMeasurement(pose: Pose2d, timestamp: Double, stdDevs: Unit) { @@ -361,8 +371,6 @@ class CommandSwerveDrivetrain : SwerveDrivetrain, Subsystem { .withRotationalDeadband(0.0).withRotationalRate(thetaController.calculate(angle.asDouble) * 2 * PI) .withVelocityX(0.0).withVelocityY(0.0) }.ignoringDisable(true).addRequirements(this) - - } } } diff --git a/src/main/java/frc/robot/subsystems/vision/BetterVisionSubsystem.kt b/src/main/java/frc/robot/subsystems/vision/BetterVisionSubsystem.kt index 3090aa0..83a25ca 100644 --- a/src/main/java/frc/robot/subsystems/vision/BetterVisionSubsystem.kt +++ b/src/main/java/frc/robot/subsystems/vision/BetterVisionSubsystem.kt @@ -44,7 +44,7 @@ import org.photonvision.simulation.VisionSystemSim import org.photonvision.targeting.PhotonTrackedTarget import java.util.* -class BetterVisionSubsystem: SubsystemBase() { +class BetterVisionSubsystem : SubsystemBase() { private val leftCamera = PhotonCamera("Left Camera") private val rightCamera = PhotonCamera("Right Camera") @@ -70,6 +70,7 @@ class BetterVisionSubsystem: SubsystemBase() { */ var leftEstimationStdDevs: Matrix? = null private set + /** * Returns the latest standard deviations of the estimated pose from [ ][.getEstimatedGlobalPose], for use with [ ]. This should * only be used when there are targets visible. @@ -141,7 +142,8 @@ class BetterVisionSubsystem: SubsystemBase() { }, { leftSimDebugField!!.getObject("VisionEstimation").setPoses() - }) + }, + ) } } return visionEst @@ -172,7 +174,8 @@ class BetterVisionSubsystem: SubsystemBase() { }, { rightSimDebugField!!.getObject("VisionEstimation").setPoses() - }) + }, + ) } } return visionEst @@ -186,7 +189,8 @@ class BetterVisionSubsystem: SubsystemBase() { * @param targets All targets in this camera frame */ private fun updateLeftEstimationStdDevs( - estimatedPose: Optional, targets: List, + estimatedPose: Optional, + targets: List, ) { if (estimatedPose.isEmpty) { // No pose input. Default to single-tag std devs @@ -219,12 +223,15 @@ class BetterVisionSubsystem: SubsystemBase() { // Decrease std devs if multiple targets are visible if (numTags > 1) estStdDevs = kMultiTagStdDevs // Increase std devs based on (average) distance - estStdDevs = if (numTags == 1 && avgDist > 4) VecBuilder.fill( - Double.MAX_VALUE, - Double.MAX_VALUE, - Double.MAX_VALUE - ) - else estStdDevs.times(1 + (avgDist * avgDist / 30)) + estStdDevs = if (numTags == 1 && avgDist > 4) { + VecBuilder.fill( + Double.MAX_VALUE, + Double.MAX_VALUE, + Double.MAX_VALUE, + ) + } else { + estStdDevs.times(1 + (avgDist * avgDist / 30)) + } leftEstimationStdDevs = estStdDevs } } @@ -238,7 +245,8 @@ class BetterVisionSubsystem: SubsystemBase() { * @param targets All targets in this camera frame */ private fun updateRightEstimationStdDevs( - estimatedPose: Optional, targets: List, + estimatedPose: Optional, + targets: List, ) { if (estimatedPose.isEmpty) { // No pose input. Default to single-tag std devs @@ -271,12 +279,15 @@ class BetterVisionSubsystem: SubsystemBase() { // Decrease std devs if multiple targets are visible if (numTags > 1) estStdDevs = kMultiTagStdDevs // Increase std devs based on (average) distance - estStdDevs = if (numTags == 1 && avgDist > 4) VecBuilder.fill( - Double.MAX_VALUE, - Double.MAX_VALUE, - Double.MAX_VALUE - ) - else estStdDevs.times(1 + (avgDist * avgDist / 30)) + estStdDevs = if (numTags == 1 && avgDist > 4) { + VecBuilder.fill( + Double.MAX_VALUE, + Double.MAX_VALUE, + Double.MAX_VALUE, + ) + } else { + estStdDevs.times(1 + (avgDist * avgDist / 30)) + } rightEstimationStdDevs = estStdDevs } } @@ -306,7 +317,4 @@ class BetterVisionSubsystem: SubsystemBase() { if (!Robot.sim()) return null return rightVisionSim!!.debugField } - - - -} \ No newline at end of file +}