Spotless applied

Author: SemblanceOfSense

src/main/java/frc/robot/constants/ClimberConstants.java

@@ -1,3 +1,4 @@
+/* Black Knights Robotics (C) 2025 */
 package frc.robot.constants;
 
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
@@ -12,18 +13,16 @@ public class ClimberConstants {
     public static final double JOINT_P = 0;
     public static final double JOINT_I = 0;
     public static final double JOINT_D = 0;
-    //sgva
+    // sgva
     public static final double JOINT_S = 0;
     public static final double JOINT_G = 0;
     public static final double JOINT_V = 0;
     public static final double JOINT_A = 0;
 
     public static final double CURRENT_MAX = 0;
     public static final double CLIMBER_TOLERANCE = 0;
-    //Current as in electricity.
+    // Current as in electricity.
 
-
-
-//
+    //
 
 }

src/main/java/frc/robot/subsystems/ClimberSubsystem.java

@@ -1,3 +1,4 @@
+/* Black Knights Robotics (C) 2025 */
 package frc.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
@@ -8,51 +9,53 @@
 import com.revrobotics.spark.config.SparkFlexConfig;
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.controller.ProfiledPIDController;
-import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ClimberConstants;
 
 public class ClimberSubsystem extends SubsystemBase {
 
     private final WPI_TalonSRX rotaryMotor = new WPI_TalonSRX(ClimberConstants.ROTARY_MOTOR_ID);
-    //Bag motor
-    private final SparkFlex jointMotor = new SparkFlex(
-            ClimberConstants.JOINT_MOTOR_ID, SparkLowLevel.MotorType.kBrushless);
-    //Neovortex arm motor
-    private final ProfiledPIDController pidController = new ProfiledPIDController(
-            ClimberConstants.JOINT_P, ClimberConstants.JOINT_I, ClimberConstants.JOINT_D, ClimberConstants.ARM_CONSTRAINTS);
-
-    //private final RelativeEncoder rotaryEncoder = rotaryMotor.getEncoder
-            //I dont think talonsrx has built in encoder.
+    // Bag motor
+    private final SparkFlex jointMotor =
+            new SparkFlex(ClimberConstants.JOINT_MOTOR_ID, SparkLowLevel.MotorType.kBrushless);
+    // Neovortex arm motor
+    private final ProfiledPIDController pidController =
+            new ProfiledPIDController(
+                    ClimberConstants.JOINT_P,
+                    ClimberConstants.JOINT_I,
+                    ClimberConstants.JOINT_D,
+                    ClimberConstants.ARM_CONSTRAINTS);
+
+    // private final RelativeEncoder rotaryEncoder = rotaryMotor.getEncoder
+    // I dont think talonsrx has built in encoder.
     private final RelativeEncoder jointEncoder = jointMotor.getEncoder();
 
     private boolean isRotaryRotating = false;
     private int currentDirection = 1;
 
     private final ArmFeedforward climberFF =
-
             new ArmFeedforward(
                     ClimberConstants.JOINT_S,
                     ClimberConstants.JOINT_G,
                     ClimberConstants.JOINT_V,
-                    ClimberConstants.JOINT_A
-            );
+                    ClimberConstants.JOINT_A);
 
     public ClimberSubsystem() {
 
-        SparkFlexConfig elbowMotorConfig  = new SparkFlexConfig();
+        SparkFlexConfig elbowMotorConfig = new SparkFlexConfig();
 
         jointMotor.configure(
                 elbowMotorConfig,
                 SparkBase.ResetMode.kNoResetSafeParameters,
                 SparkBase.PersistMode.kPersistParameters
-                //When we turn motor on, we do not reset parameters.
-                //Persist means that it doesn't clear the parameters when it turns off
-        );
+                // When we turn motor on, we do not reset parameters.
+                // Persist means that it doesn't clear the parameters when it turns off
+                );
     }
 
     /**
      * Sets pidController target position.
+     *
      * @param position Position is target PID position.
      */
     public void setJointPosition(double position) {
@@ -61,14 +64,16 @@ public void setJointPosition(double position) {
 
     /**
      * Sets rotary motor(Bag motor) voltage.
+     *
      * @param voltage Voltage is target voltage for rotary motor.
      */
-    public void setRotaryVoltage(double voltage){
+    public void setRotaryVoltage(double voltage) {
         rotaryMotor.setVoltage(voltage);
     }
 
     /**
-     *gets joint motor velocity(Neo vortex)
+     * gets joint motor velocity(Neo vortex)
+     *
      * @return joint encoder velocity.
      */
     public double getJointVelocity() {
@@ -77,54 +82,58 @@ public double getJointVelocity() {
 
     /**
      * Sets the voltage of the joint motor(Neo vortex)
+     *
      * @param voltage Voltage is target voltage
      */
-    public void setJointVoltage(double voltage){
+    public void setJointVoltage(double voltage) {
         jointMotor.setVoltage(voltage);
     }
 
     /**
      * Stops rotary motor when it hits cage and sees current spike.
+     *
      * @param currentMax Current maximum when rotary motor hits hardstop.
      */
-    public void stopRotaryMotor(double currentMax){
-        if(rotaryMotor.getSupplyCurrent() > currentMax){
+    public void stopRotaryMotor(double currentMax) {
+        if (rotaryMotor.getSupplyCurrent() > currentMax) {
             rotaryMotor.setVoltage(0);
         }
     }
 
     /**
      * Gets joint encoder position
+     *
      * @return joint encoder position
      */
-    public double getJointPosition(){
+    public double getJointPosition() {
         return jointEncoder.getPosition();
     }
 
     /**
-     * Rotates rotary motor. Sets boolean isRotaryRotating = true when it is called.
-     * We set currentDirection *= -1 as it will reverse the direction of the rotary motor after it has rotated.
+     * Rotates rotary motor. Sets boolean isRotaryRotating = true when it is called. We set
+     * currentDirection *= -1 as it will reverse the direction of the rotary motor after it has
+     * rotated.
      *
      * @param voltage Voltage is target voltage.
      */
-    public void rotateRotary(double voltage){
+    public void rotateRotary(double voltage) {
         rotaryMotor.setVoltage(voltage * currentDirection);
         isRotaryRotating = true;
         currentDirection *= -1;
     }
 
     @Override
     public void periodic() {
-        if(isRotaryRotating){
+        if (isRotaryRotating) {
             stopRotaryMotor(ClimberConstants.CURRENT_MAX);
         }
         double pidCalc = pidController.calculate(getJointPosition());
         double ffCalc = climberFF.calculate(getJointPosition(), getJointVelocity());
         setJointVoltage(pidCalc + ffCalc);
     }
 
-//Arm motor needs pid for current
-//Rotate until current function
-//Rotate at a specific amount of volts until spike in current and then stop rotating.
+    // Arm motor needs pid for current
+    // Rotate until current function
+    // Rotate at a specific amount of volts until spike in current and then stop rotating.
 
 }