Formatting

docs/mkdocs/docs/library/subsystems/bling.md

@@ -81,4 +81,4 @@ To add this subsystem to your robot:
 3. Set up default command (typically DefaultSetToAllianceColor)
 4. Integrate with robot state indicators as needed
 
-This subsystem is designed to be both robust for competition use and flexible for development and testing purposes.
+This subsystem is designed to be both robust for competition use and flexible for development and testing purposes.

docs/mkdocs/docs/library/subsystems/swerve.md

@@ -37,7 +37,7 @@ Module configuration is handled in the year-specific TunerConstants files. To co
 // PID Gains
 private static final Slot0Configs steerGains = new Slot0Configs()
     .withKP(100)  // Adjust based on your robot's steering response
-    .withKI(0)    
+    .withKI(0)
     .withKD(0.2);
 
 private static final Slot0Configs driveGains = new Slot0Configs()
@@ -63,7 +63,7 @@ public static final PathConstraints PATHFINDING_CONSTRAINTS = new PathConstraint
 
 2. Configure the holonomic drive controller:
 ```java
-public static final PPHolonomicDriveController PP_HOLONOMIC_DRIVE_CONTROLLER = 
+public static final PPHolonomicDriveController PP_HOLONOMIC_DRIVE_CONTROLLER =
     new PPHolonomicDriveController(
         new PIDConstants(2.4, 0, 0.015),  // Translation PID
         new PIDConstants(7.8, 0, 0.015)   // Rotation PID
@@ -136,7 +136,7 @@ Command pathfindCommand = pathPlanner.getPathFinderCommand(
 
 ### Manual Drive Control
 ```java
-swerve.applyRequest(() -> 
+swerve.applyRequest(() ->
     new SwerveRequest.FieldCentric()
         .withVelocityX(joystickX)
         .withVelocityY(joystickY)
@@ -164,4 +164,4 @@ swerve.applyRequest(() ->
 4. Telemetry
     - Monitor module states during testing
     - Use field visualization to verify odometry
-    - Log relevant data for troubleshooting
+    - Log relevant data for troubleshooting

docs/mkdocs/site/sitemap.xml

@@ -1,3 +1,3 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9">
-</urlset>
+</urlset>

src/main/java/frc/alotobots/RobotContainer.java

@@ -117,12 +117,13 @@ private void configureLogicCommands() {
     // Test OTF Pathplanner to best object
     hmiStation.testOTFPathplannerButton.onTrue(
         new PathfindToBestObject(
-            photonvisionObjectDetectionSubsystem, drivetrainSubsystem, pathPlanner));
+            photonvisionObjectDetectionSubsystem, drivetrainSubsystem, pathPlanner, "Note"));
     // Test Object Detection and FieldCentricFacingAngle
     hmiStation.driveWhileFacingBestObjectTrigger.toggleOnTrue(
         new DriveFacingBestObject(
             photonvisionObjectDetectionSubsystem,
             drivetrainSubsystem,
+            "Note",
             () -> hmiStation.driveFwdAxis() * hmiStation.getDriveXYPerfMode(),
             () -> hmiStation.driveStrAxis() * hmiStation.getDriveXYPerfMode(),
             () -> hmiStation.driveRotAxis() * hmiStation.getDriveRotPerfMode()));

src/main/java/frc/alotobots/library/bling/BlingSubsystem.java

@@ -14,18 +14,15 @@
 /**
  * Subsystem for controlling LED lighting (Bling) on the robot.
  *
- * <p>The Bling subsystem manages LED strips connected to a CTRE CANdle controller.
- * It supports:
- * - Setting solid colors
- * - Running animations
- * - Queueing colors/animations
- * - Alliance-based color schemes
- * - Brightness control
+ * <p>The Bling subsystem manages LED strips connected to a CTRE CANdle controller. It supports: -
+ * Setting solid colors - Running animations - Queueing colors/animations - Alliance-based color
+ * schemes - Brightness control
  *
- * <p>The subsystem uses a CANdle controller to drive addressable LED strips.
- * LED updates happen in the periodic() method.
+ * <p>The subsystem uses a CANdle controller to drive addressable LED strips. LED updates happen in
+ * the periodic() method.
  *
  * <p>Usage example:
+ *
  * <pre>
  * BlingSubsystem bling = new BlingSubsystem();
  * // Set solid red color

src/main/java/frc/alotobots/library/vision/photonvision/objectdetection/DetectedObject.java

@@ -37,6 +37,7 @@ public GameElement getGameElement() {
     }
     return GAME_ELEMENTS[classId];
   }
+
   private double lastUpdateTime;
 
   /**

src/main/java/frc/alotobots/library/vision/photonvision/objectdetection/commands/DriveFacingBestObject.java

@@ -7,7 +7,6 @@
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.alotobots.library.drivetrains.swerve.ctre.SwerveDriveSubsystem;
-import frc.alotobots.library.vision.photonvision.objectdetection.GameElement;
 import frc.alotobots.library.vision.photonvision.objectdetection.PhotonVisionObjectDetectionSubsystem;
 import java.util.function.DoubleSupplier;
 
@@ -88,9 +87,10 @@ public DriveFacingBestObject(
    */
   @Override
   public void execute() {
-    var detectedObjects = objectDetectionSubsystem.getDetectedObjects().stream()
-        .filter(obj -> obj.getGameElement().getName().equals(targetGameElementName))
-        .toList();
+    var detectedObjects =
+        objectDetectionSubsystem.getDetectedObjects().stream()
+            .filter(obj -> obj.getGameElement().getName().equals(targetGameElementName))
+            .toList();
 
     if (!detectedObjects.isEmpty()) {
       Rotation2d angle = detectedObjects.get(0).getAngle();
@@ -108,8 +108,7 @@ public void execute() {
     }
 
     // Rotation override timeout
-    if (!detectedObjects.isEmpty()
-        && velocityRotation.getAsDouble() != 0) {
+    if (!detectedObjects.isEmpty() && velocityRotation.getAsDouble() != 0) {
       overrideTimer.start();
     } else {
       overrideTimer.reset();

src/main/java/frc/alotobots/library/vision/photonvision/objectdetection/commands/PathfindToBestObject.java

@@ -33,9 +33,10 @@ public PathfindToBestObject(
 
   @Override
   public void initialize() {
-    var detectedObjects = objectDetectionSubsystem.getDetectedObjects().stream()
-        .filter(obj -> obj.getGameElement().getName().equals(targetGameElementName))
-        .toList();
+    var detectedObjects =
+        objectDetectionSubsystem.getDetectedObjects().stream()
+            .filter(obj -> obj.getGameElement().getName().equals(targetGameElementName))
+            .toList();
     if (detectedObjects.isEmpty()) {
       return;
     }