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Author: GitHub Actions

RobotCode2020/src/main/java/frc/robot/OI.java

@@ -15,7 +15,6 @@
 import frc.robot.commands.ExtendClimb;
 import frc.robot.commands.RetractClimb;
 
-
 /**
  * This class is the glue that binds the controls on the physical operator interface to the commands
  * and command groups that allow control of the robot.

RobotCode2020/src/main/java/frc/robot/RobotMap.java

@@ -21,7 +21,7 @@ public class RobotMap {
 
   // intake ID
   public static final int MOTOR_MAILBOX_ID = 31;
-  
+
   // drivetrain motors
   public static final int MOTOR_LEFT_BACK_ID = 12;
   public static final int MOTOR_RIGHT_BACK_ID = 10;
@@ -30,7 +30,7 @@ public class RobotMap {
 
   public static final int MOTOR_CLIMB_EXTENDER_ID = 0;
   public static final int MOTOR_CLIMB_WINCH_ID = 40;
-  
+
   // left joystick (horizontal)
   public static final int JOYSTICK_DRIVE_FORWARDS_ID = 1;
   // left joystick (horizontal)

RobotCode2020/src/main/java/frc/robot/commands/ExtendClimb.java

@@ -19,8 +19,7 @@ public ExtendClimb() {
 
   // Called just before this Command runs the first time
   @Override
-  protected void initialize() {
-  }
+  protected void initialize() {}
 
   // Called repeatedly when this Command is scheduled to run
   @Override
@@ -36,12 +35,10 @@ protected boolean isFinished() {
 
   // Called once after isFinished returns true
   @Override
-  protected void end() {
-  }
+  protected void end() {}
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
-  protected void interrupted() {
-  }
+  protected void interrupted() {}
 }

RobotCode2020/src/main/java/frc/robot/commands/RetractClimb.java

@@ -19,8 +19,7 @@ public RetractClimb() {
 
   // Called just before this Command runs the first time
   @Override
-  protected void initialize() {
-  }
+  protected void initialize() {}
 
   // Called repeatedly when this Command is scheduled to run
   @Override
@@ -36,12 +35,10 @@ protected boolean isFinished() {
 
   // Called once after isFinished returns true
   @Override
-  protected void end() {
-  }
+  protected void end() {}
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
-  protected void interrupted() {
-  }
+  protected void interrupted() {}
 }

RobotCode2020/src/main/java/frc/robot/commands/autonomous/Auton.java

@@ -12,18 +12,15 @@
 import frc.robot.commands.drivetrain.RotateToAngle;
 
 public class Auton extends CommandGroup {
-  /**
-   * Hopefully works.
-   */
+  /** Hopefully works. */
   public Auton() {
     // Add Commands here:
     // e.g. addSequential(new Command1());
     // addSequential(new Command2());
     // these will run in order.
-   addSequential(new DriveDistance(5), 10.0);
-   addSequential(new RotateToAngle(90.0), 10.0);
-   //addSequential(new DriveDistance(1), 10.0);
-
+    addSequential(new DriveDistance(5), 10.0);
+    addSequential(new RotateToAngle(90.0), 10.0);
+    // addSequential(new DriveDistance(1), 10.0);
 
     // To run multiple commands at the same time,
     // use addParallel()

RobotCode2020/src/main/java/frc/robot/commands/drivetrain/DriveDistance.java

@@ -18,11 +18,11 @@ public class DriveDistance extends Command {
   private double D = 0.0055;
   private PIDController pidDriveController = new PIDController(P, I, D);
   private PIDController pidTurnController = new PIDController(P, I, D);
-  
+
   private double rotationsToTarget;
   private double ticksTarget;
   private int ticksPerRotation = 42;
-  private double wheelDiameter = 0.5; //ft
+  private double wheelDiameter = 0.5; // ft
 
   /**
    * Drives robot a set distance w/ PID loop to keep it straight
@@ -32,7 +32,7 @@ public class DriveDistance extends Command {
   public DriveDistance(double distance) {
     requires(Robot.drivetrain);
     // calculate # of ticks based off distance
-    rotationsToTarget = distance / (wheelDiameter * Math.PI) * 10.75; 
+    rotationsToTarget = distance / (wheelDiameter * Math.PI) * 10.75;
     pidDriveController.setTolerance(1);
     pidTurnController.setTolerance(0.05);
   }
@@ -43,19 +43,17 @@ protected void initialize() {
     Robot.drivetrain.calibrate();
     SmartDashboard.putNumber("Ticks To Target", rotationsToTarget);
     SmartDashboard.putString("Command", "DriveDistance");
-
   }
 
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    double forwardsSpeed = pidDriveController.calculate(Robot.drivetrain.getPosition(), rotationsToTarget);
+    double forwardsSpeed =
+        pidDriveController.calculate(Robot.drivetrain.getPosition(), rotationsToTarget);
     double turnSpeed = pidTurnController.calculate(Robot.drivetrain.gyro.getAngle(), 0);
     Robot.drivetrain.drive(forwardsSpeed, turnSpeed);
   }
 
-
-
   // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {

RobotCode2020/src/main/java/frc/robot/subsystems/Arm.java

@@ -28,9 +28,9 @@ public Arm() {
     armMotor.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Absolute, 0, 10);
     // config PID parameters
     armMotor.config_kF(0, 0, 10);
-		armMotor.config_kP(0, 0, 10);
-		armMotor.config_kI(0, 0, 10);
-		armMotor.config_kD(0, 0, 10);
+    armMotor.config_kP(0, 0, 10);
+    armMotor.config_kI(0, 0, 10);
+    armMotor.config_kD(0, 0, 10);
   }
 
   @Override
@@ -45,8 +45,8 @@ public void periodic() {
   }
 
   public void turn(double value) {
-    armMotor.set(ControlMode.PercentOutput, value); 
-  } 
+    armMotor.set(ControlMode.PercentOutput, value);
+  }
 
   public void setSetpoint(double setpoint) {
     armMotor.set(ControlMode.Position, setpoint);

RobotCode2020/src/main/java/frc/robot/subsystems/Climb.java

@@ -28,7 +28,7 @@ public void extendClimb(double voltage) {
   }
 
   public void turnWinch(double voltage) {
-   winchMotor.set(ControlMode.PercentOutput, voltage);
+    winchMotor.set(ControlMode.PercentOutput, voltage);
   }
 
   @Override

RobotCode2020/src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -30,21 +30,26 @@
 /** Drivetrain class w/ limelight vision tracking */
 public class Drivetrain extends Subsystem {
   // motor stuff
-  private CANSparkMax leftMotorFront = new CANSparkMax(RobotMap.MOTOR_LEFT_FRONT_ID, MotorType.kBrushless);
-  private CANSparkMax leftMotorBack = new CANSparkMax(RobotMap.MOTOR_LEFT_BACK_ID, MotorType.kBrushless);
-  private CANSparkMax rightMotorFront = new CANSparkMax(RobotMap.MOTOR_RIGHT_FRONT_ID, MotorType.kBrushless);
-  private CANSparkMax rightMotorBack = new CANSparkMax(RobotMap.MOTOR_RIGHT_BACK_ID, MotorType.kBrushless);
+  private CANSparkMax leftMotorFront =
+      new CANSparkMax(RobotMap.MOTOR_LEFT_FRONT_ID, MotorType.kBrushless);
+  private CANSparkMax leftMotorBack =
+      new CANSparkMax(RobotMap.MOTOR_LEFT_BACK_ID, MotorType.kBrushless);
+  private CANSparkMax rightMotorFront =
+      new CANSparkMax(RobotMap.MOTOR_RIGHT_FRONT_ID, MotorType.kBrushless);
+  private CANSparkMax rightMotorBack =
+      new CANSparkMax(RobotMap.MOTOR_RIGHT_BACK_ID, MotorType.kBrushless);
 
   private SpeedControllerGroup leftMotors = new SpeedControllerGroup(leftMotorFront, leftMotorBack);
-  private SpeedControllerGroup rightMotors = new SpeedControllerGroup(rightMotorFront, rightMotorBack);
+  private SpeedControllerGroup rightMotors =
+      new SpeedControllerGroup(rightMotorFront, rightMotorBack);
 
   // drivetrain
   private DifferentialDrive dualDrive = new DifferentialDrive(leftMotors, rightMotors);
 
   // encoders
   private CANEncoder lEncoder = new CANEncoder(leftMotorBack);
   private CANEncoder rEncoder = new CANEncoder(rightMotorBack);
-  
+
   // gyro
   public AHRS gyro;
 
@@ -75,7 +80,7 @@ public void calibrate() {
 
   /** Return average position between the encoders */
   public double getPosition() {
-    return ((lEncoder.getPosition() + rEncoder.getPosition()*-1) / 2.0);
+    return ((lEncoder.getPosition() + rEncoder.getPosition() * -1) / 2.0);
   }
 
   /**