a

Author: Superbro525Alt

build.gradle

@@ -206,7 +206,7 @@ task(eventDeploy) {
     }
 }
 createVersionFile.dependsOn(eventDeploy)
-// project.compileJava.dependsOn(spotlessApply)
+project.compileJava.dependsOn(spotlessApply)
 project.tasks.named("compileJava") {
     finalizedBy("test")
     finalizedBy("syncOffloadClassesToBin")

src/main/java/org/curtinfrc/frc2026/Robot.java

@@ -5,8 +5,6 @@
 
 import com.ctre.phoenix6.SignalLogger;
 import com.ctre.phoenix6.signals.InvertedValue;
-
-import choreo.util.ChoreoAllianceFlipUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.net.WebServer;
@@ -15,12 +13,10 @@
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.Threads;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -57,7 +53,6 @@
 import org.curtinfrc.frc2026.subsystems.hoodedshooter.ShooterIOComp;
 import org.curtinfrc.frc2026.subsystems.hoodedshooter.ShooterIODev;
 import org.curtinfrc.frc2026.subsystems.hoodedshooter.ShooterIOSim;
-import org.curtinfrc.frc2026.util.FieldConstants;
 import org.curtinfrc.frc2026.util.GameState;
 import org.curtinfrc.frc2026.util.PhoenixUtil;
 import org.curtinfrc.frc2026.util.Repulsor.Behaviours.AutoPathBehaviour;
@@ -66,7 +61,6 @@
 import org.curtinfrc.frc2026.util.Repulsor.Behaviours.ShuttleRecoveryBehaviour;
 import org.curtinfrc.frc2026.util.Repulsor.Behaviours.TestBehaviour;
 import org.curtinfrc.frc2026.util.Repulsor.Commands.Triggers;
-import org.curtinfrc.frc2026.util.Repulsor.DriverStation.NtRepulsorDriverStation;
 import org.curtinfrc.frc2026.util.Repulsor.DriverStation.RepulsorDriverStation;
 import org.curtinfrc.frc2026.util.Repulsor.DriverStation.RepulsorDriverStationBootstrap;
 import org.curtinfrc.frc2026.util.Repulsor.Fallback;
@@ -391,10 +385,13 @@ public Robot() {
     //               }
 
     //             } else {
-    //               // If alliance is blue, then check if it is in the alliance zone by checking the x
-    //               // value is less than the left trench opening (opponent) Then set the location to
+    //               // If alliance is blue, then check if it is in the alliance zone by checking
+    // the x
+    //               // value is less than the left trench opening (opponent) Then set the location
+    // to
     //               // hub.
-    //               if (currentPosition.getX() < FieldConstants.LeftTrench.oppOpeningTopLeft.getX()) {
+    //               if (currentPosition.getX() <
+    // FieldConstants.LeftTrench.oppOpeningTopLeft.getX()) {
     //                 drive.locationHeadingjoyStickDrive(
     //                     () -> -controller.getLeftY(),
     //                     () -> -controller.getLeftX(),
@@ -421,9 +418,11 @@ public Robot() {
     //           });
     //   Pose2d currentPosition = drive.getPose();
     //   Trigger isRed =
-    //       new Trigger(() -> DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red));
+    //       new Trigger(() ->
+    // DriverStation.getAlliance().orElse(Alliance.Blue).equals(Alliance.Red));
     //   Trigger isBlue =
-    //       new Trigger(() -> DriverStation.getAlliance().orElse(Alliance.Red).equals(Alliance.Blue));
+    //       new Trigger(() ->
+    // DriverStation.getAlliance().orElse(Alliance.Red).equals(Alliance.Blue));
 
     //   Trigger isLeft =
     //       new Trigger(() -> currentPosition.getY() < FieldConstants.Hub.topCenterPoint.getY());
@@ -556,11 +555,13 @@ public Robot() {
 
     wireRepulsor();
 
-    // controller.a().whileTrue(drive.alignTo(new Pose2d(Constants.FIELD_LENGTH / 2, Constants.FIELD_WIDTH / 2, new Rotation2d())));
+    // controller.a().whileTrue(drive.alignTo(new Pose2d(Constants.FIELD_LENGTH / 2,
+    // Constants.FIELD_WIDTH / 2, new Rotation2d())));
     // controller.b().whileTrue(
     //      drive.alignTo(
     //     ChoreoAllianceFlipUtil.flip(new Pose2d(
-    //         15.391 - (Constants.ROBOT_X / 2), 3.84 + (Constants.ROBOT_Y / 2), new Rotation2d()))));
+    //         15.391 - (Constants.ROBOT_X / 2), 3.84 + (Constants.ROBOT_Y / 2), new
+    // Rotation2d()))));
 
     System.out.println("Robot initialized.");
   }

src/main/java/org/curtinfrc/frc2026/subsystems/hoodedshooter/HoodedShooter.java

@@ -74,17 +74,17 @@ public void periodic() {
     Logger.recordOutput("HoodedShooter/shooterTarget", shooterTarget);
 
     if (Constants.getMode() != Mode.SIM) {
-    for (int motor = 0; motor < HOOD_MOTOR_NUMBER; motor++) {
-      hoodMotorDisconnectedAlerts[motor].set(!hoodInputs.motorsConnected[motor]);
-      hoodMotorTempAlerts[motor].set(hoodInputs.motorTemperatures[motor] > MOTOR_WARNING_TEMP);
-    }
-    for (int motor = 0; motor < SHOOTER_MOTOR_NUMBER; motor++) {
-      shooterMotorDisconnectedAlerts[motor].set(!shooterInputs.motorsConnected[motor]);
-      shooterMotorTempAlerts[motor].set(
-          shooterInputs.motorTemperatures[motor] > MOTOR_WARNING_TEMP);
+      for (int motor = 0; motor < HOOD_MOTOR_NUMBER; motor++) {
+        hoodMotorDisconnectedAlerts[motor].set(!hoodInputs.motorsConnected[motor]);
+        hoodMotorTempAlerts[motor].set(hoodInputs.motorTemperatures[motor] > MOTOR_WARNING_TEMP);
+      }
+      for (int motor = 0; motor < SHOOTER_MOTOR_NUMBER; motor++) {
+        shooterMotorDisconnectedAlerts[motor].set(!shooterInputs.motorsConnected[motor]);
+        shooterMotorTempAlerts[motor].set(
+            shooterInputs.motorTemperatures[motor] > MOTOR_WARNING_TEMP);
+      }
     }
   }
-  }
 
   public Command setHoodPosition(double position) {
     return run(() -> hoodIO.setPosition(position));