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RIT-VEX-U · Feb 25, 2024 · 3eb2acf · 3eb2acf
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diff --git a/.clang-format b/.clang-format
@@ -1,2 +1,2 @@
-BasedOnStyle: LLVM
-IndentWidth: 4
+BasedOnStyle:   LLVM
+ColumnLimit:    120
diff --git a/core/include/robot_specs.h b/core/include/robot_specs.h
@@ -1,25 +1,32 @@
 #pragma once
-#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/controls/feedback_base.h"
+#include "../core/include/utils/controls/pid.h"
 
 /**
  * Main robot characterization struct.
- * This will be passed to all the major subsystems 
+ * This will be passed to all the major subsystems
  * that require info about the robot.
  * All distance measurements are in inches.
  */
-typedef struct
-{  
-  double robot_radius; ///< if you were to draw a circle with this radius, the robot would be entirely contained within it
+typedef struct {
+  double robot_radius; ///< if you were to draw a circle with this radius, the
+                       ///< robot would be entirely contained within it
 
-  double odom_wheel_diam; ///< the diameter of the wheels used for 
-  double odom_gear_ratio; ///< the ratio of the odometry wheel to the encoder reading odometry data
-  double dist_between_wheels; ///< the distance between centers of the central drive wheels 
+  double odom_wheel_diam;     ///< the diameter of the wheels used for
+  double odom_gear_ratio;     ///< the ratio of the odometry wheel to the encoder
+                              ///< reading odometry data
+  double dist_between_wheels; ///< the distance between centers of the central
+                              ///< drive wheels
 
-  double drive_correction_cutoff; ///< the distance at which to stop trying to turn towards the target. If we are less than this value, we can continue driving forward to minimize our distance but will not try to spin around to point directly at the target
+  double drive_correction_cutoff; ///< the distance at which to stop trying to turn
+                                  ///< towards the target. If we are less than this
+                                  ///< value, we can continue driving forward to
+                                  ///< minimize our distance but will not try to
+                                  ///< spin around to point directly at the target
 
-  Feedback *drive_feedback; ///< the default feedback for autonomous driving
-  Feedback *turn_feedback; ///< the defualt feedback for autonomous turning
-  PID::pid_config_t correction_pid; ///< the pid controller to keep the robot driving in as straight a line as possible
+  Feedback *drive_feedback;         ///< the default feedback for autonomous driving
+  Feedback *turn_feedback;          ///< the defualt feedback for autonomous turning
+  PID::pid_config_t correction_pid; ///< the pid controller to keep the robot driving in as
+                                    ///< straight a line as possible
 
 } robot_specs_t;
diff --git a/core/include/subsystems/custom_encoder.h b/core/include/subsystems/custom_encoder.h
@@ -5,30 +5,32 @@
  * A wrapper class for the vex encoder that allows the use of 3rd party
  * encoders with different tick-per-revolution values.
  */
-class CustomEncoder : public vex::encoder
-{
+class CustomEncoder : public vex::encoder {
   typedef vex::encoder super;
 
-  public:
+public:
   /**
    * Construct an encoder with a custom number of ticks
    * @param port the triport port on the brain the encoder is plugged into
-   * @param ticks_per_rev the number of ticks the encoder will report for one revolution
-  */
+   * @param ticks_per_rev the number of ticks the encoder will report for one
+   * revolution
+   */
   CustomEncoder(vex::triport::port &port, double ticks_per_rev);
 
   /**
-   * sets the stored rotation of the encoder. Any further movements will be from this value
+   * sets the stored rotation of the encoder. Any further movements will be from
+   * this value
    * @param val the numerical value of the angle we are setting to
    * @param units the unit of val
-  */
+   */
   void setRotation(double val, vex::rotationUnits units);
 
   /**
-   * sets the stored position of the encoder. Any further movements will be from this value
+   * sets the stored position of the encoder. Any further movements will be from
+   * this value
    * @param val the numerical value of the position we are setting to
    * @param units the unit of val
-  */
+   */
   void setPosition(double val, vex::rotationUnits units);
 
   /**
@@ -52,7 +54,6 @@ class CustomEncoder : public vex::encoder
    */
   double velocity(vex::velocityUnits units);
 
-
-  private:
+private:
   double tick_scalar;
 };
diff --git a/core/include/subsystems/flywheel.h b/core/include/subsystems/flywheel.h
@@ -1,31 +1,34 @@
 #pragma once
 
-#include "../core/include/utils/controls/feedforward.h"
-#include "vex.h"
 #include "../core/include/robot_specs.h"
-#include "../core/include/utils/controls/pid.h"
-#include "../core/include/utils/command_structure/auto_command.h"
 #include "../core/include/subsystems/screen.h"
+#include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/utils/controls/feedforward.h"
+#include "../core/include/utils/controls/pid.h"
+#include "vex.h"
 #include <atomic>
 
 /**
  * a Flywheel class that handles all control of a high inertia spinning disk
- * It gives multiple options for what control system to use in order to control wheel velocity and functions alerting the user when the flywheel is up to speed.
- * Flywheel is a set and forget class.
- * Once you create it you can call spin_rpm or stop on it at any time and it will take all necessary steps to accomplish this
+ * It gives multiple options for what control system to use in order to control
+ * wheel velocity and functions alerting the user when the flywheel is up to
+ * speed. Flywheel is a set and forget class. Once you create it you can call
+ * spin_rpm or stop on it at any time and it will take all necessary steps to
+ * accomplish this
  *
  */
-class Flywheel
-{
+class Flywheel {
 
 public:
   // CONSTRUCTORS, GETTERS, AND SETTERS
   /**
    * Create the Flywheel object using PID + feedforward for control.
    * @param motors      pointer to the motors on the fly wheel
    * @param feedback    a feedback controleller
-   * @param helper      a feedforward config (only kV is used) to help the feedback controller along
-   * @param ratio       ratio of the gears from the motor to the flywheel just multiplies the velocity
+   * @param helper      a feedforward config (only kV is used) to help the
+   * feedback controller along
+   * @param ratio       ratio of the gears from the motor to the flywheel just
+   * multiplies the velocity
    * @param filter      the filter to use to smooth noisy motor readings
    */
   Flywheel(vex::motor_group &motors, Feedback &feedback, FeedForward &helper, const double ratio, Filter &filt);
@@ -48,7 +51,8 @@ class Flywheel
 
   /**
    * Spin motors using voltage; defaults forward at 12 volts
-   * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the target_rpm thread is not running
+   * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the target_rpm
+   * thread is not running
    * @param speed - speed (between -1 and 1) to set the motor
    * @param dir - direction that the motor moves in; defaults to forward
    */
@@ -62,46 +66,45 @@ class Flywheel
   void spin_rpm(double rpm);
 
   /**
-   * Stops the motors. If manually spinning, this will do nothing just call spin_mainual(0.0) to send 0 volts
+   * Stops the motors. If manually spinning, this will do nothing just call
+   * spin_mainual(0.0) to send 0 volts
    */
   void stop();
 
   /**
    * @brief check if the feedback controller thinks the flywheel is on target
    * @return true if on target
    */
-  bool is_on_target()
-  {
-    return fb.is_on_target();
-  }
+  bool is_on_target() { return fb.is_on_target(); }
 
   /**
    *  @brief Creates a page displaying info about the flywheel
-   *  @return the page should be used for `screen::start_screen(screen, {fw.Page()});
+   *  @return the page should be used for `screen::start_screen(screen,
+   * {fw.Page()});
    */
   screen::Page *Page() const;
 
   /**
-   * @brief Creates a new auto command to spin the flywheel at the desired velocity
+   * @brief Creates a new auto command to spin the flywheel at the desired
+   * velocity
    * @param rpm the rpm to spin at
    * @return an auto command to add to a command controller
-  */
-  AutoCommand *SpinRpmCmd(int rpm)
-  {
+   */
+  AutoCommand *SpinRpmCmd(int rpm) {
 
-    return new FunctionCommand([this, rpm]()
-                               {spin_rpm(rpm); return true; });
+    return new FunctionCommand([this, rpm]() {
+      spin_rpm(rpm);
+      return true;
+    });
   }
 
   /**
-   * @brief Creates a new auto command that will hold until the flywheel has its target as defined by its feedback controller
+   * @brief Creates a new auto command that will hold until the flywheel has its
+   * target as defined by its feedback controller
    * @return an auto command to add to a command controller
    */
-  AutoCommand *WaitUntilUpToSpeedCmd()
-  {
-    return new WaitUntilCondition(
-        new FunctionCondition([this]()
-                              { return is_on_target(); }));
+  AutoCommand *WaitUntilUpToSpeedCmd() {
+    return new WaitUntilCondition(new FunctionCondition([this]() { return is_on_target(); }));
   }
 
 private:
@@ -113,10 +116,11 @@ class Flywheel
   Feedback &fb;                   ///< Main Feeback controller
   FeedForward &ff;                ///< Helper Feedforward Controller
   vex::mutex fb_mut;              ///< guard for talking to the runner thread
-  double ratio;                   ///< ratio between motor and flywheel. For accurate RPM calcualation
+  double ratio;                   ///< ratio between motor and flywheel. For accurate RPM
+                                  ///< calcualation
   std::atomic<double> target_rpm; ///< Desired RPM of the flywheel.
   task rpm_task;                  ///< task that handles spinning the wheel at a given target_rpm
-  Filter &avger;            ///< Moving average to smooth out noise from
+  Filter &avger;                  ///< Moving average to smooth out noise from
 
   // Functions for internal use only
   /**
@@ -125,7 +129,8 @@ class Flywheel
    */
   void set_target(double value);
   /**
-   * make a measurement of the current target_rpm of the flywheel motor and return a smoothed version
+   * make a measurement of the current target_rpm of the flywheel motor and
+   * return a smoothed version
    */
   double measure_RPM();