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SciBorgs · Feb 1, 2025 · fbfe8a3 · fbfe8a3
1 parent 384c876
commit fbfe8a3
Showing 1 changed file with 32 additions and 34 deletions.
diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -1,35 +1,17 @@
 package org.sciborgs1155.robot;
 
-import java.util.Set;
-
-import org.littletonrobotics.urcl.URCL;
-import org.sciborgs1155.lib.CommandRobot;
-import org.sciborgs1155.lib.FaultLogger;
-import org.sciborgs1155.lib.InputStream;
-import org.sciborgs1155.lib.Test;
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.Second;
+import static edu.wpi.first.units.Units.Seconds;
+import static edu.wpi.first.wpilibj2.command.button.RobotModeTriggers.autonomous;
+import static edu.wpi.first.wpilibj2.command.button.RobotModeTriggers.test;
 import static org.sciborgs1155.robot.Constants.DEADBAND;
-import org.sciborgs1155.robot.Constants.Field.Level;
 import static org.sciborgs1155.robot.Constants.PERIOD;
-import org.sciborgs1155.robot.Ports.OI;
-import org.sciborgs1155.robot.arm.Arm;
-import org.sciborgs1155.robot.commands.Autos;
-import org.sciborgs1155.robot.commands.Corolling;
-import org.sciborgs1155.robot.commands.Scoraling;
-import org.sciborgs1155.robot.coroller.Coroller;
-import org.sciborgs1155.robot.drive.Drive;
 import static org.sciborgs1155.robot.drive.DriveConstants.MAX_ANGULAR_ACCEL;
 import static org.sciborgs1155.robot.drive.DriveConstants.MAX_SPEED;
 import static org.sciborgs1155.robot.drive.DriveConstants.TELEOP_ANGULAR_SPEED;
-import org.sciborgs1155.robot.elevator.Elevator;
-import org.sciborgs1155.robot.hopper.Hopper;
-import org.sciborgs1155.robot.led.LEDStrip;
-import org.sciborgs1155.robot.scoral.Scoral;
-import org.sciborgs1155.robot.vision.Vision;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Second;
-import static edu.wpi.first.units.Units.Seconds;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
@@ -41,11 +23,28 @@
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import static edu.wpi.first.wpilibj2.command.button.RobotModeTriggers.autonomous;
-import static edu.wpi.first.wpilibj2.command.button.RobotModeTriggers.test;
+import java.util.Set;
 import monologue.Annotations.Log;
 import monologue.Logged;
 import monologue.Monologue;
+import org.littletonrobotics.urcl.URCL;
+import org.sciborgs1155.lib.CommandRobot;
+import org.sciborgs1155.lib.FaultLogger;
+import org.sciborgs1155.lib.InputStream;
+import org.sciborgs1155.lib.Test;
+import org.sciborgs1155.robot.Constants.Field.Level;
+import org.sciborgs1155.robot.Ports.OI;
+import org.sciborgs1155.robot.arm.Arm;
+import org.sciborgs1155.robot.commands.Autos;
+import org.sciborgs1155.robot.commands.Corolling;
+import org.sciborgs1155.robot.commands.Scoraling;
+import org.sciborgs1155.robot.coroller.Coroller;
+import org.sciborgs1155.robot.drive.Drive;
+import org.sciborgs1155.robot.elevator.Elevator;
+import org.sciborgs1155.robot.hopper.Hopper;
+import org.sciborgs1155.robot.led.LEDStrip;
+import org.sciborgs1155.robot.scoral.Scoral;
+import org.sciborgs1155.robot.vision.Vision;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -75,7 +74,6 @@ public class Robot extends CommandRobot implements Logged {
   private final Scoraling scoraling = new Scoraling(hopper, scoral, elevator);
   private final Corolling corolling = new Corolling(arm, coroller);
 
-
   @Log.NT private double speedMultiplier = Constants.FULL_SPEED_MULTIPLIER;
 
   /** The robot contains subsystems, OI devices, and commands. */
@@ -117,22 +115,22 @@ private void configureGameBehavior() {
 
   /** Configures trigger -> command bindings. */
   private void configureBindings() {
-    
-    //scoral commands
+
+    // scoral commands
     operator.povDown().onTrue(scoraling.scoral(Level.L1));
     operator.povLeft().onTrue(scoraling.scoral(Level.L2));
     operator.povRight().onTrue(scoraling.scoral(Level.L3));
     operator.povUp().onTrue(scoraling.scoral(Level.L4));
 
-    //corolling commands
-    //climb
+    // corolling commands
+    // climb
     operator.leftBumper().onTrue(arm.climbSetup());
     operator.leftTrigger().onTrue(arm.climbExecute());
-    //trough
+    // trough
     operator.rightBumper().onTrue(corolling.trough());
-    //ground intake
+    // ground intake
     operator.rightTrigger().onTrue(corolling.intake());
-    //processor
+    // processor
     operator.a().onTrue(corolling.processor());
 
     // x and y are switched: we use joystick y axis to control field x motion