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mjansen4857 · Oct 23, 2024 · 2967d5e · 2967d5e
1 parent 3f6b234
commit 2967d5e
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Showing 2 changed files with 8 additions and 7 deletions.
diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
@@ -159,11 +159,11 @@ public PathPlannerTrajectory(
         double[] forceXFF = new double[config.numModules];
         double[] forceYFF = new double[config.numModules];
         for (int m = 0; m < config.numModules; m++) {
-          double appliedForce = 
+          double appliedForce =
               wheelForces[m].getNorm() > 1e-6
-              ? wheelForces[m].getNorm() 
-                      * wheelForces[m].getAngle().minus(state.moduleStates[m].angle).getCos() 
-              : 0.0;
+                  ? wheelForces[m].getNorm()
+                      * wheelForces[m].getAngle().minus(state.moduleStates[m].angle).getCos()
+                  : 0.0;
           double wheelTorque = appliedForce * config.moduleConfig.wheelRadiusMeters;
           double torqueCurrent = config.moduleConfig.driveMotor.getCurrent(wheelTorque);
 

diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java b/pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
@@ -342,9 +342,10 @@ public SwerveSetpoint generateSetpoint(
     double[] forceYFF = new double[config.numModules];
     for (int m = 0; m < config.numModules; m++) {
       double appliedForce =
-        wheelForces[m].getNorm() > 1e-6
-            ? wheelForces[m].getNorm() * wheelForces[m].getAngle().minus(retStates[m].angle).getCos()
-            : 0.0;
+          wheelForces[m].getNorm() > 1e-6
+              ? wheelForces[m].getNorm()
+                  * wheelForces[m].getAngle().minus(retStates[m].angle).getCos()
+              : 0.0;
       double wheelTorque = appliedForce * config.moduleConfig.wheelRadiusMeters;
       double torqueCurrent = config.moduleConfig.driveMotor.getCurrent(wheelTorque);