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SFUnity · Sep 22, 2024 · cc54363 · cc54363
1 parent d7354a4
commit cc54363
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Showing 2 changed files with 7 additions and 20 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -53,31 +53,21 @@ public RobotContainer() {
     switch (Constants.currentMode) {
       case REAL:
         // Real robot, instantiate hardware IO implementations
-        drive =
-            new Drive(
-                new DriveIOReal(), new GyroIOPigeon2());
+        drive = new Drive(new DriveIOReal(), new GyroIOPigeon2());
         break;
 
       case SIM:
         // Sim robot, instantiate physics sim IO implementations
         drive =
             new Drive(
-                new DriveIO() {
-
-                }, // Replace with sim once available
-                new GyroIO() {}
-                );
+                new DriveIO() {}, // Replace with sim once available
+                new GyroIO() {});
         break;
 
       default:
         // Replayed robot, disable IO implementations
-        drive =
-            new Drive(
-                new DriveIO() {
-
-                },
-                new GyroIO() {}
-                );
+        drive = new Drive(new DriveIO() {}, new GyroIO() {});
+
         break;
     }
 

diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -5,9 +5,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.util.GeneralUtil;
-
 import java.util.function.Supplier;
-
 import org.littletonrobotics.junction.Logger;
 
 public class Drive extends SubsystemBase {
@@ -18,13 +16,11 @@ public class Drive extends SubsystemBase {
 
   Rotation2d rawGyroRotation = new Rotation2d();
 
-
   public Drive(DriveIO io, GyroIO gyroIO) {
     this.io = io;
     this.gyroIO = gyroIO;
   }
 
-
   public void periodic() {
     io.updateInputs(driveInputs);
     Logger.processInputs("Shooter/Feeder", driveInputs);
@@ -36,7 +32,8 @@ public void periodic() {
       rawGyroRotation = gyroInputs.yawPosition;
     } else {
       // Use the angle delta from the kinematics and module deltas
-      Twist2d twist = DriveConstants.kinematics.toTwist2d(driveInputs.leftPosition, driveInputs.rightPosition);
+      Twist2d twist =
+          DriveConstants.kinematics.toTwist2d(driveInputs.leftPosition, driveInputs.rightPosition);
       rawGyroRotation = rawGyroRotation.plus(new Rotation2d(twist.dtheta));
     }
   }