spotlessApply

src/main/kotlin/com/team4099/lib/phoenix6/PositionVoltage.kt

@@ -12,15 +12,15 @@ import org.team4099.lib.units.perSecond
 import com.ctre.phoenix6.controls.PositionVoltage as PositionVoltagePhoenix6
 
 class PositionVoltage(
-
-    private var position: Angle, // Assuming an AngularPosition type exists similar to AngularVelocity
-    private var enableFOC: Boolean = true,
-    private var feedforward: ElectricalPotential = 0.0.volts,
-    private var slot: Int = 0,
-    private var overrideBrakeDurNeutral: Boolean = false,
-    private var limitForwardMotion: Boolean = false,
-    private var limitReverseMotion: Boolean = false,
-    private var velocity: AngularVelocity = 0.0.degrees.perSecond,
+  private var position:
+    Angle, // Assuming an AngularPosition type exists similar to AngularVelocity
+  private var enableFOC: Boolean = true,
+  private var feedforward: ElectricalPotential = 0.0.volts,
+  private var slot: Int = 0,
+  private var overrideBrakeDurNeutral: Boolean = false,
+  private var limitForwardMotion: Boolean = false,
+  private var limitReverseMotion: Boolean = false,
+  private var velocity: AngularVelocity = 0.0.degrees.perSecond,
 ) {
 
   val positionVoltagePhoenix6 =

src/main/kotlin/com/team4099/robot2023/RobotContainer.kt

@@ -9,12 +9,12 @@ import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.drivetrain.drive.DrivetrainIO
 import com.team4099.robot2023.subsystems.drivetrain.drive.DrivetrainIOSim
 import com.team4099.robot2023.subsystems.drivetrain.gyro.GyroIO
-import com.team4099.robot2023.subsystems.feeder.Feeder
-import com.team4099.robot2023.subsystems.feeder.FeederIONeo
-import com.team4099.robot2023.subsystems.feeder.FeederIOSim
 import com.team4099.robot2023.subsystems.elevator.Elevator
 import com.team4099.robot2023.subsystems.elevator.ElevatorIONEO
 import com.team4099.robot2023.subsystems.elevator.ElevatorIOSim
+import com.team4099.robot2023.subsystems.feeder.Feeder
+import com.team4099.robot2023.subsystems.feeder.FeederIONeo
+import com.team4099.robot2023.subsystems.feeder.FeederIOSim
 import com.team4099.robot2023.subsystems.limelight.LimelightVision
 import com.team4099.robot2023.subsystems.limelight.LimelightVisionIO
 import com.team4099.robot2023.subsystems.vision.Vision

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt

@@ -6,10 +6,6 @@ import com.team4099.lib.trajectory.CustomTrajectoryGenerator
 import com.team4099.lib.trajectory.Waypoint
 import com.team4099.robot2023.config.constants.DrivetrainConstants
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-<<<<<<< HEAD
-import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest
-=======
->>>>>>> elevator
 import com.team4099.robot2023.util.AllianceFlipUtil
 import com.team4099.robot2023.util.Velocity2d
 import edu.wpi.first.math.kinematics.ChassisSpeeds

src/main/kotlin/com/team4099/robot2023/config/ControlBoard.kt

@@ -96,16 +96,4 @@ object ControlBoard {
   val characterizeIntake = Trigger { technician.xButton }
 
   // for testing
-  val setArmCommand = Trigger { technician.yButton }
-
-<<<<<<< HEAD
-  val feederIntakeTest = Trigger { driver.aButton }
-  val feederShootTest = Trigger { driver.bButton }
-=======
-  val elevatorOpenLoopExtend = Trigger { driver.aButton }
-  val elevatorOpenLoopRetract = Trigger { driver.bButton }
-  val elevatorClosedLoopHigh = Trigger { driver.xButton }
-  val elevatorClosedLoopLow = Trigger { driver.yButton }
->>>>>>> elevator
 }
-

src/main/kotlin/com/team4099/robot2023/config/constants/ElevatorConstants.kt

@@ -4,7 +4,6 @@ import org.team4099.lib.units.base.Meter
 import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.base.inches
 import org.team4099.lib.units.base.meters
-import org.team4099.lib.units.base.percent
 import org.team4099.lib.units.base.pounds
 import org.team4099.lib.units.base.seconds
 import org.team4099.lib.units.derived.DerivativeGain
@@ -56,7 +55,6 @@ object ElevatorConstants {
   val ELEVATOR_OPEN_LOOP_SOFT_LIMIT_RETRACTION = 0.0.inches
   val ELEVATOR_SAFE_THRESHOLD = 5.0.inches
 
-
   val ELEVATOR_TOLERANCE = 0.2.inches
 
   val MAX_VELOCITY = 0.82.meters.perSecond
@@ -84,5 +82,4 @@ object ElevatorConstants {
   val FOLLOWER_STATOR_CURRENT_LIMIT = 0.0.amps
   val FOLLOWER_SUPPLY_CURRENT_LIMIT = 0.0.amps
   val FOLLOWER_THRESHOLD_CURRENT_LIMIT = 0.0.amps
-
 }

src/main/kotlin/com/team4099/robot2023/config/constants/FeederConstants.kt

@@ -5,10 +5,8 @@ import org.team4099.lib.units.base.grams
 import org.team4099.lib.units.base.meters
 import org.team4099.lib.units.base.seconds
 import org.team4099.lib.units.derived.degrees
-import org.team4099.lib.units.derived.rotations
 import org.team4099.lib.units.derived.volts
 import org.team4099.lib.units.kilo
-import org.team4099.lib.units.perMinute
 import org.team4099.lib.units.perSecond
 
 object FeederConstants {
@@ -27,8 +25,6 @@ object FeederConstants {
 
   var WAIT_BEFORE_DETECT_VELOCITY_DROP = 1.seconds
 
-
   val INTAKE_NOTE_VOLTAGE = 6.volts
   val SHOOT_NOTE_VOLTAGE = 11.9.volts
-
 }

src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt

@@ -4,8 +4,8 @@ import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.derived.volts
 
 object IntakeConstants {
-    val ROLLER_INERTIA = 0.002459315 // this one has been updated
-    val VOLTAGE_COMPENSATION = 12.0.volts
+  val ROLLER_INERTIA = 0.002459315 // this one has been updated
+  val VOLTAGE_COMPENSATION = 12.0.volts
 
   // TODO: Change gear ratio according to robot
   val ROLLER_CURRENT_LIMIT = 50.0.amps

src/main/kotlin/com/team4099/robot2023/subsystems/elevator/Elevator.kt

@@ -30,7 +30,6 @@ import org.team4099.lib.units.derived.perInchSeconds
 import org.team4099.lib.units.derived.volts
 import org.team4099.lib.units.inInchesPerSecond
 import org.team4099.lib.units.perSecond
-import kotlin.time.Duration.Companion.seconds
 import com.team4099.robot2023.subsystems.superstructure.Request.ElevatorRequest as ElevatorRequest
 
 class Elevator(val io: ElevatorIO) : SubsystemBase() {
@@ -53,27 +52,26 @@ class Elevator(val io: ElevatorIO) : SubsystemBase() {
     LoggedTunableValue(
       "Elevator/kD", Pair({ it.inVoltsPerInchPerSecond }, { it.volts / 1.0.inches.perSecond })
     )
-  private val kS =
-    LoggedTunableValue(
-      "Elevator/kS", Pair({ it.inVolts}, {it.volts})
-    )
-  private val kG =
-    LoggedTunableValue(
-      "Elevator/kG", Pair({ it.inVolts}, {it.volts})
-    )
+  private val kS = LoggedTunableValue("Elevator/kS", Pair({ it.inVolts }, { it.volts }))
+  private val kG = LoggedTunableValue("Elevator/kG", Pair({ it.inVolts }, { it.volts }))
   private val kV =
     LoggedTunableValue(
-      "Elevator/kG", Pair({it.inVoltsPerInchPerSecond}, {it.volts / 1.0.inches.perSecond})
+      "Elevator/kG", Pair({ it.inVoltsPerInchPerSecond }, { it.volts / 1.0.inches.perSecond })
     )
   private val kA =
     LoggedTunableValue(
-      "Elevator/kA", Pair({it.inVoltsPerMeterPerSecondPerSecond}, {it.volts / 1.0.meters.perSecond.perSecond})
+      "Elevator/kA",
+      Pair(
+        { it.inVoltsPerMeterPerSecondPerSecond },
+        { it.volts / 1.0.meters.perSecond.perSecond }
+      )
     )
 
   object TunableElevatorHeights {
     val enableElevator =
-      LoggedTunableNumber("Elevator/enableMovementElevator",
-      if (ElevatorConstants.ENABLE_ELEVATOR) 1.0 else 0.0)
+      LoggedTunableNumber(
+        "Elevator/enableMovementElevator", if (ElevatorConstants.ENABLE_ELEVATOR) 1.0 else 0.0
+      )
 
     val minPosition =
       LoggedTunableValue(
@@ -91,11 +89,15 @@ class Elevator(val io: ElevatorIO) : SubsystemBase() {
     // TODO: change voltages
     val openLoopExtendVoltage =
       LoggedTunableValue(
-        "Elevator/openLoopExtendVoltage", ElevatorConstants.ELEVATOR_OPEN_LOOP_EXTEND_VOLTAGE, Pair({ it.inVolts }, { it.volts })
+        "Elevator/openLoopExtendVoltage",
+        ElevatorConstants.ELEVATOR_OPEN_LOOP_EXTEND_VOLTAGE,
+        Pair({ it.inVolts }, { it.volts })
       )
     val openLoopRetractVoltage =
       LoggedTunableValue(
-        "Elevator/openLoopRetractVoltage", ElevatorConstants.ELEVATOR_OPEN_LOOP_RETRACT_VOLTAGE, Pair({ it.inVolts }, { it.volts })
+        "Elevator/openLoopRetractVoltage",
+        ElevatorConstants.ELEVATOR_OPEN_LOOP_RETRACT_VOLTAGE,
+        Pair({ it.inVolts }, { it.volts })
       )
 
     val shootSpeakerPosition =
@@ -190,7 +192,10 @@ class Elevator(val io: ElevatorIO) : SubsystemBase() {
     get() =
       currentRequest is ElevatorRequest.TargetingPosition &&
         (
-          ((inputs.elevatorPosition - elevatorPositionTarget).absoluteValue <= ElevatorConstants.ELEVATOR_SAFE_THRESHOLD) ||
+          (
+            (inputs.elevatorPosition - elevatorPositionTarget).absoluteValue <=
+              ElevatorConstants.ELEVATOR_SAFE_THRESHOLD
+            ) ||
             elevatorProfile.isFinished(Clock.fpgaTime - timeProfileGeneratedAt)
           ) &&
         lastRequestedPosition == elevatorPositionTarget
@@ -222,8 +227,6 @@ class Elevator(val io: ElevatorIO) : SubsystemBase() {
         ElevatorConstants.ELEVATOR_KV,
         ElevatorConstants.ELEVATOR_KA
       )
-
-
   }
 
   override fun periodic() {

src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOKraken.kt

@@ -3,7 +3,6 @@ package com.team4099.robot2023.subsystems.elevator
 import com.ctre.phoenix6.StatusSignal
 import com.ctre.phoenix6.configs.Slot0Configs
 import com.ctre.phoenix6.configs.TalonFXConfiguration
-import com.ctre.phoenix6.controls.PositionDutyCycle
 import com.ctre.phoenix6.controls.PositionVoltage
 import com.ctre.phoenix6.hardware.TalonFX
 import com.ctre.phoenix6.signals.NeutralModeValue
@@ -26,7 +25,6 @@ import org.team4099.lib.units.derived.IntegralGain
 import org.team4099.lib.units.derived.ProportionalGain
 import org.team4099.lib.units.derived.Volt
 import org.team4099.lib.units.derived.inVolts
-import org.team4099.lib.units.derived.rotations
 import org.team4099.lib.units.derived.volts
 
 object ElevatorIOKraken : ElevatorIO {
@@ -155,25 +153,21 @@ object ElevatorIOKraken : ElevatorIO {
 
   override fun setOutputVoltage(voltage: ElectricalPotential) {
     if (((leaderSensor.position < 0.5.inches) && (voltage < 0.volts)) ||
-      (leaderSensor.position > ElevatorConstants.ELEVATOR_MAX_EXTENSION - 0.5.inches && (voltage > 0.volts))) {
+      (
+        leaderSensor.position > ElevatorConstants.ELEVATOR_MAX_EXTENSION - 0.5.inches &&
+          (voltage > 0.volts)
+        )
+    ) {
       elevatorLeaderKraken.setVoltage(0.0)
-    }
-    else {
+    } else {
       elevatorLeaderKraken.setVoltage(voltage.inVolts)
     }
   }
 
   override fun setPosition(position: Length, feedForward: ElectricalPotential) {
     elevatorLeaderKraken.setControl(
       PositionVoltage(
-        leaderSensor.getRawPosition(),
-        0.0,
-        true,
-        feedForward.inVolts,
-        0,
-        false,
-        false,
-        false
+        leaderSensor.getRawPosition(), 0.0, true, feedForward.inVolts, 0, false, false, false
       )
     )
   }

src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIONEO.kt

@@ -15,7 +15,6 @@ import org.team4099.lib.units.base.Meter
 import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.inAmperes
-import org.team4099.lib.units.base.inPercentOutputPerSecond
 import org.team4099.lib.units.base.inches
 import org.team4099.lib.units.derived.DerivativeGain
 import org.team4099.lib.units.derived.ElectricalPotential
@@ -144,7 +143,10 @@ object ElevatorIONEO : ElevatorIO {
   override fun setOutputVoltage(voltage: ElectricalPotential) {
     // divide by 2 cause full power elevator is scary
     if (((leaderSensor.position < 0.5.inches) && (voltage < 0.volts)) ||
-      (leaderSensor.position > ElevatorConstants.ELEVATOR_MAX_EXTENSION - 0.5.inches && (voltage > 0.volts))
+      (
+        leaderSensor.position > ElevatorConstants.ELEVATOR_MAX_EXTENSION - 0.5.inches &&
+          (voltage > 0.volts)
+        )
     ) {
       leaderSparkMax.setVoltage(0.0)
     } else {

src/main/kotlin/com/team4099/robot2023/subsystems/elevator/ElevatorIOSim.kt

@@ -19,7 +19,6 @@ import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.inKilograms
 import org.team4099.lib.units.base.inMeters
 import org.team4099.lib.units.base.inSeconds
-import org.team4099.lib.units.base.inches
 import org.team4099.lib.units.base.meters
 import org.team4099.lib.units.derived.DerivativeGain
 import org.team4099.lib.units.derived.ElectricalPotential
@@ -99,15 +98,15 @@ object ElevatorIOSim : ElevatorIO {
    */
   override fun setOutputVoltage(voltage: ElectricalPotential) {
     Logger.recordOutput("Elevator/OutputTest", voltage)
-      val clampedVoltage =
-        clamp(
-          voltage,
-          -ElevatorConstants.VOLTAGE_COMPENSATION,
-          ElevatorConstants.VOLTAGE_COMPENSATION
-        )
-      lastAppliedVoltage = clampedVoltage
-
-      elevatorSim.setInputVoltage(clampedVoltage.inVolts)
+    val clampedVoltage =
+      clamp(
+        voltage,
+        -ElevatorConstants.VOLTAGE_COMPENSATION,
+        ElevatorConstants.VOLTAGE_COMPENSATION
+      )
+    lastAppliedVoltage = clampedVoltage
+
+    elevatorSim.setInputVoltage(clampedVoltage.inVolts)
   }
 
   /**
@@ -131,8 +130,7 @@ object ElevatorIOSim : ElevatorIO {
   }
 
   /** set the current encoder position to be the encoders zero value */
-  override fun zeroEncoder() {
-  }
+  override fun zeroEncoder() {}
 
   /**
    * updates the PID controller values using the sensor measurement for proportional intregral and

src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt

@@ -70,7 +70,7 @@ class Feeder(val io: FeederIO) : SubsystemBase() {
       FeederStates.OPEN_LOOP_INTAKE -> {
         if (!hasNote) {
           setFeederVoltage(feederTargetVoltage)
-          }
+        }
         nextState = fromRequestToState(currentRequest)
       }
       FeederStates.OPEN_LOOP_SHOOT -> {
@@ -99,7 +99,6 @@ class Feeder(val io: FeederIO) : SubsystemBase() {
     })
   }
 
-
   companion object {
     enum class FeederStates {
       UNINITIALIZED,
@@ -122,4 +121,3 @@ class Feeder(val io: FeederIO) : SubsystemBase() {
     }
   }
 }
-

src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIO.kt

@@ -1,4 +1,5 @@
 package com.team4099.robot2023.subsystems.feeder
+
 import org.littletonrobotics.junction.LogTable
 import org.littletonrobotics.junction.inputs.LoggableInputs
 import org.team4099.lib.units.base.amps

src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIONeo.kt

@@ -8,7 +8,6 @@ import com.team4099.robot2023.config.constants.FeederConstants
 import com.team4099.robot2023.subsystems.falconspin.MotorChecker
 import com.team4099.robot2023.subsystems.falconspin.MotorCollection
 import com.team4099.robot2023.subsystems.falconspin.Neo
-import org.littletonrobotics.junction.Logger
 import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.base.celsius
 import org.team4099.lib.units.base.inAmperes
@@ -64,7 +63,6 @@ object FeederIONeo : FeederIO {
     inputs.feederSupplyCurrent =
       inputs.feederStatorCurrent * feederSparkMax.appliedOutput.absoluteValue
     inputs.feederTemp = feederSparkMax.motorTemperature.celsius
-
   }
 
   /**