Format with Spotless

src/main/java/frc/robot/intake/IntakeSubsystem.java

@@ -5,7 +5,6 @@
 package frc.robot.intake;
 
 import com.revrobotics.*;
-
 import edu.wpi.first.math.filter.LinearFilter;
 import frc.robot.util.scheduling.LifecycleSubsystem;
 import frc.robot.util.scheduling.SubsystemPriority;
@@ -15,7 +14,7 @@
 public class IntakeSubsystem extends LifecycleSubsystem {
   private final LinearFilter voltageFilter = LinearFilter.movingAverage(7);
   private final LinearFilter velocityFilter = LinearFilter.movingAverage(7);
-  //7 is a placeholder not tuned
+  // 7 is a placeholder not tuned
   private final CANSparkMax motor;
   private final RelativeEncoder encoder;
   private IntakeState goalState;
@@ -36,7 +35,8 @@ public void setGoalState(IntakeState intakeState) {
 
     goalState = intakeState;
   }
-@Override
+
+  @Override
   public void robotPeriodic() {
     Logger.getInstance().recordOutput("Intake/State", goalState.toString());
     Logger.getInstance().recordOutput("Intake/HeldGamePiece", gamePiece.toString());
@@ -66,18 +66,19 @@ public void enabledPeriodic() {
     // Game piece detection
     double motorVelocity = velocityFilter.calculate(encoder.getVelocity());
     double intakeVoltage = voltageFilter.calculate(motor.getAppliedOutput()) * 12.0;
-    double theoreticalSpeed = intakeVoltage * (5700.0/12.0); //Neo Max is 5700
+    double theoreticalSpeed = intakeVoltage * (5700.0 / 12.0); // Neo Max is 5700
     double threshold = theoreticalSpeed * 0.5;
     if (motorVelocity < threshold && goalState == IntakeState.INTAKE_CONE) {
       gamePiece = HeldGamePiece.CONE;
     } else if (motorVelocity < threshold && goalState == IntakeState.INTAKE_CUBE) {
       gamePiece = HeldGamePiece.CUBE;
-    } else if (motorVelocity > threshold && (goalState == IntakeState.OUTTAKE_CONE || goalState == IntakeState.OUTTAKE_CUBE)) {
+    } else if (motorVelocity > threshold
+        && (goalState == IntakeState.OUTTAKE_CONE || goalState == IntakeState.OUTTAKE_CUBE)) {
       gamePiece = HeldGamePiece.NOTHING;
     }
   }
 
-  public IntakeState getIntakeState(){
+  public IntakeState getIntakeState() {
     return goalState;
   }
 

src/main/java/frc/robot/lights/BlinkPattern.java

@@ -1,3 +1,7 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
 package frc.robot.lights;
 
 public enum BlinkPattern {

src/main/java/frc/robot/lights/LightsSubsystem.java

@@ -1,8 +1,10 @@
-package frc.robot.lights;
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
+package frc.robot.lights;
 
 import com.ctre.phoenix.led.CANdle;
-
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.util.Color;
@@ -15,12 +17,11 @@
 import frc.robot.util.scheduling.LifecycleSubsystem;
 import frc.robot.util.scheduling.SubsystemPriority;
 
-public class LightsSubsystem extends LifecycleSubsystem{
+public class LightsSubsystem extends LifecycleSubsystem {
 
   private static final double FAST_BLINK_DURATION = 0.08;
   private static final double SLOW_BLINK_DURATION = 0.25;
 
-
   private final CANdle candle;
   private final IntakeSubsystem intake;
   private final SuperstructureManager superstructure;
@@ -31,16 +32,14 @@ public class LightsSubsystem extends LifecycleSubsystem{
   private BlinkPattern blinkPattern = BlinkPattern.SOLID;
 
   public LightsSubsystem(
-    CANdle candle,
-    IntakeSubsystem intake,
-    SuperstructureManager superstructure
-  ) {
+      CANdle candle, IntakeSubsystem intake, SuperstructureManager superstructure) {
     super(SubsystemPriority.LIGHTS);
     this.candle = candle;
     this.intake = intake;
     this.superstructure = superstructure;
   }
-  public void enabledPeriodic(){
+
+  public void enabledPeriodic() {
     HeldGamePiece gamePiece = intake.getGamePiece();
     IntakeState intakeMode = intake.getIntakeState();
     HeldGamePiece superstructureMode = superstructure.getMode();
@@ -53,7 +52,7 @@ public void enabledPeriodic(){
         color = Color.kBlue;
         blinkPattern = BlinkPattern.SOLID;
       }
-    }else if (gamePiece == HeldGamePiece.CUBE) {
+    } else if (gamePiece == HeldGamePiece.CUBE) {
       if (intakeMode == IntakeState.INTAKE_CUBE) {
         color = Color.kPurple;
         blinkPattern = BlinkPattern.BLINK_FAST;
@@ -103,10 +102,5 @@ public void enabledPeriodic(){
         candle.setLEDs(color8Bit.red, color8Bit.green, color8Bit.blue);
       }
     }
-
-
   }
-
-
-
 }

src/main/java/frc/robot/managers/superstructure/Positions.java

@@ -7,22 +7,34 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 
 public class Positions {
-  public static final SuperstructurePosition STOWED = new SuperstructurePosition(Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(0));
-
-  public static final SuperstructurePosition INTAKING_CUBE_FLOOR = new SuperstructurePosition(Rotation2d.fromDegrees(20), Rotation2d.fromDegrees(135));
-  public static final SuperstructurePosition INTAKING_CUBE_SHELF =  new SuperstructurePosition(Rotation2d.fromDegrees(90), Rotation2d.fromDegrees(180));
-
-  public static final SuperstructurePosition CUBE_NODE_LOW = new SuperstructurePosition(Rotation2d.fromDegrees(-20), Rotation2d.fromDegrees(-135));
-  public static final SuperstructurePosition CUBE_NODE_MID = new SuperstructurePosition(Rotation2d.fromDegrees(-75), Rotation2d.fromDegrees(-190));
-  public static final SuperstructurePosition CUBE_NODE_HIGH = new SuperstructurePosition(Rotation2d.fromDegrees(-100), Rotation2d.fromDegrees(-190));
-
-  public static final SuperstructurePosition INTAKING_CONE_FLOOR = new SuperstructurePosition(Rotation2d.fromDegrees(20), Rotation2d.fromDegrees(135));
-  public static final SuperstructurePosition INTAKING_CONE_SHELF = new SuperstructurePosition(Rotation2d.fromDegrees(90), Rotation2d.fromDegrees(180));
-  public static final SuperstructurePosition INTAKING_CONE_SINGLE_SUBSTATION = new SuperstructurePosition(Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(30));
-
-  public static final SuperstructurePosition CONE_NODE_LOW = new SuperstructurePosition(Rotation2d.fromDegrees(-20), Rotation2d.fromDegrees(-135));
-  public static final SuperstructurePosition CONE_NODE_MID = new SuperstructurePosition(Rotation2d.fromDegrees(-75), Rotation2d.fromDegrees(-190));
-  public static final SuperstructurePosition CONE_NODE_HIGH = new SuperstructurePosition(Rotation2d.fromDegrees(-100), Rotation2d.fromDegrees(-190));
+  public static final SuperstructurePosition STOWED =
+      new SuperstructurePosition(Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(0));
+
+  public static final SuperstructurePosition INTAKING_CUBE_FLOOR =
+      new SuperstructurePosition(Rotation2d.fromDegrees(20), Rotation2d.fromDegrees(135));
+  public static final SuperstructurePosition INTAKING_CUBE_SHELF =
+      new SuperstructurePosition(Rotation2d.fromDegrees(90), Rotation2d.fromDegrees(180));
+
+  public static final SuperstructurePosition CUBE_NODE_LOW =
+      new SuperstructurePosition(Rotation2d.fromDegrees(-20), Rotation2d.fromDegrees(-135));
+  public static final SuperstructurePosition CUBE_NODE_MID =
+      new SuperstructurePosition(Rotation2d.fromDegrees(-75), Rotation2d.fromDegrees(-190));
+  public static final SuperstructurePosition CUBE_NODE_HIGH =
+      new SuperstructurePosition(Rotation2d.fromDegrees(-100), Rotation2d.fromDegrees(-190));
+
+  public static final SuperstructurePosition INTAKING_CONE_FLOOR =
+      new SuperstructurePosition(Rotation2d.fromDegrees(20), Rotation2d.fromDegrees(135));
+  public static final SuperstructurePosition INTAKING_CONE_SHELF =
+      new SuperstructurePosition(Rotation2d.fromDegrees(90), Rotation2d.fromDegrees(180));
+  public static final SuperstructurePosition INTAKING_CONE_SINGLE_SUBSTATION =
+      new SuperstructurePosition(Rotation2d.fromDegrees(0), Rotation2d.fromDegrees(30));
+
+  public static final SuperstructurePosition CONE_NODE_LOW =
+      new SuperstructurePosition(Rotation2d.fromDegrees(-20), Rotation2d.fromDegrees(-135));
+  public static final SuperstructurePosition CONE_NODE_MID =
+      new SuperstructurePosition(Rotation2d.fromDegrees(-75), Rotation2d.fromDegrees(-190));
+  public static final SuperstructurePosition CONE_NODE_HIGH =
+      new SuperstructurePosition(Rotation2d.fromDegrees(-100), Rotation2d.fromDegrees(-190));
 
   private Positions() {}
 }

src/main/java/frc/robot/managers/superstructure/SuperstructureManager.java

@@ -55,7 +55,7 @@ public void setMode(HeldGamePiece mode) {
     this.mode = mode;
   }
 
-  public HeldGamePiece getMode(){
+  public HeldGamePiece getMode() {
     return mode;
   }
 }

src/main/java/frc/robot/managers/superstructure/SuperstructureMotionManager.java

@@ -25,8 +25,7 @@ public SuperstructureMotionManager(WristSubsystem shoulder, WristSubsystem wrist
   }
 
   public boolean atPosition(SuperstructurePosition position) {
-    return shoulder.atAngle(position.shoulderAngle)
-        && wrist.atAngle(position.wristAngle);
+    return shoulder.atAngle(position.shoulderAngle) && wrist.atAngle(position.wristAngle);
   }
 
   public void set(SuperstructurePosition newGoalPosition) {

src/main/java/frc/robot/shoulder/ShoulderSubsystem.java

@@ -1,16 +1,18 @@
-package frc.robot.shoulder;
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
 
-import org.littletonrobotics.junction.Logger;
+package frc.robot.shoulder;
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxPIDController;
-
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.util.scheduling.LifecycleSubsystem;
 import frc.robot.util.scheduling.SubsystemPriority;
+import org.littletonrobotics.junction.Logger;
 
 public class ShoulderSubsystem extends LifecycleSubsystem {
   private final CANSparkMax motor;
@@ -43,22 +45,24 @@ public void enabledPeriodic() {
     pid.setReference(goalAngle.getRotations(), ControlType.kSmartMotion);
   }
 
-@Override
-public void robotPeriodic(){
-  Logger.getInstance().recordOutput("Shoulder/MainMotor/Velocity", encoder.getVelocity());
-  Logger.getInstance().recordOutput("Shoulder/FollowerMotor/Velocity", encoder.getVelocity());
-  Logger.getInstance().recordOutput("Shoulder/MainMotor/Angle", getWristAngle().getDegrees());
-  Logger.getInstance().recordOutput("Shoulder/FollowerMotor/Angle", getWristAngle().getDegrees());
-  Logger.getInstance().recordOutput("Shoulder/MainMotor/GoalAngle", goalAngle.getDegrees());
-  Logger.getInstance().recordOutput("Shoulder/FollowerMotor/GoalAngle", goalAngle.getDegrees());
-  Logger.getInstance().recordOutput("Shoulder/MainMotor/DutyCycleOutput", motor.getAppliedOutput());
-  Logger.getInstance().recordOutput("Shoulder/FollowerMotor/DutyCycleOutput", motor.getAppliedOutput());
-  Logger.getInstance().recordOutput("Shoulder/MainMotor/StatorCurrent", motor.getOutputCurrent());
-  Logger.getInstance().recordOutput("Shoulder/FollowerMotor/StatorCurrent", motor.getOutputCurrent());
-
-}
+  @Override
+  public void robotPeriodic() {
+    Logger.getInstance().recordOutput("Shoulder/MainMotor/Velocity", encoder.getVelocity());
+    Logger.getInstance().recordOutput("Shoulder/FollowerMotor/Velocity", encoder.getVelocity());
+    Logger.getInstance().recordOutput("Shoulder/MainMotor/Angle", getWristAngle().getDegrees());
+    Logger.getInstance().recordOutput("Shoulder/FollowerMotor/Angle", getWristAngle().getDegrees());
+    Logger.getInstance().recordOutput("Shoulder/MainMotor/GoalAngle", goalAngle.getDegrees());
+    Logger.getInstance().recordOutput("Shoulder/FollowerMotor/GoalAngle", goalAngle.getDegrees());
+    Logger.getInstance()
+        .recordOutput("Shoulder/MainMotor/DutyCycleOutput", motor.getAppliedOutput());
+    Logger.getInstance()
+        .recordOutput("Shoulder/FollowerMotor/DutyCycleOutput", motor.getAppliedOutput());
+    Logger.getInstance().recordOutput("Shoulder/MainMotor/StatorCurrent", motor.getOutputCurrent());
+    Logger.getInstance()
+        .recordOutput("Shoulder/FollowerMotor/StatorCurrent", motor.getOutputCurrent());
+  }
 
-public void set(Rotation2d angle) {
+  public void set(Rotation2d angle) {
     goalAngle = angle;
   }
 
@@ -78,4 +82,3 @@ private Rotation2d getWristAngle() {
     return Rotation2d.fromRotations(encoder.getPosition());
   }
 }
-

src/main/java/frc/robot/wrist/WristSubsystem.java

@@ -1,15 +1,18 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
 package frc.robot.wrist;
-import org.littletonrobotics.junction.Logger;
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxPIDController;
-
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.util.scheduling.LifecycleSubsystem;
 import frc.robot.util.scheduling.SubsystemPriority;
+import org.littletonrobotics.junction.Logger;
 
 public class WristSubsystem extends LifecycleSubsystem {
   private final CANSparkMax motor;