format

Author: Ishan1522

src/main/java/frc/robot/extras/setpointGen/SwerveSetpointGenerator.java

@@ -130,9 +130,7 @@ public SwerveSetpoint generateSetpoint(
             vars.prevSpeeds.vxMetersPerSecond + vars.minS * vars.dx,
             vars.prevSpeeds.vyMetersPerSecond + vars.minS * vars.dy,
             vars.prevSpeeds.omegaRadiansPerSecond + vars.minS * vars.dtheta);
-    retSpeeds.discretize(
-        retSpeeds,
-        dt);
+    retSpeeds.discretize(retSpeeds, dt);
 
     double chassisAccelX = (retSpeeds.vxMetersPerSecond - vars.prevSpeeds.vxMetersPerSecond) / dt;
     double chassisAccelY = (retSpeeds.vyMetersPerSecond - vars.prevSpeeds.vyMetersPerSecond) / dt;

src/main/java/frc/robot/subsystems/swerve/SwerveDrive.java

@@ -14,6 +14,8 @@
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.extras.setpointGen.SwerveSetpoint;
+import frc.robot.extras.setpointGen.SwerveSetpointGenerator;
 import frc.robot.extras.simulation.mechanismSim.swerve.SwerveModuleSimulation.WHEEL_GRIP;
 import frc.robot.extras.util.DeviceCANBus;
 import frc.robot.extras.util.TimeUtil;
@@ -24,8 +26,6 @@
 import frc.robot.subsystems.swerve.module.ModuleInterface;
 import frc.robot.subsystems.swerve.odometryThread.OdometryThread;
 import frc.robot.subsystems.swerve.odometryThread.OdometryThreadInputsAutoLogged;
-import frc.robot.extras.setpointGen.SwerveSetpoint;
-import frc.robot.extras.setpointGen.SwerveSetpointGenerator;
 import frc.robot.subsystems.vision.VisionConstants;
 import java.util.Optional;
 import org.littletonrobotics.junction.AutoLogOutput;

src/main/java/frc/robot/subsystems/swerve/odometryThread/OdometryThreadReal.java

@@ -55,7 +55,8 @@ private void odometryPeriodic() {
   private void refreshSignalsAndBlockThread() {
     switch (canBus) {
       case RIO -> {
-        BaseStatusSignal.setUpdateFrequencyForAll(1.0 / HardwareConstants.SIGNAL_FREQUENCY, statusSignals);
+        BaseStatusSignal.setUpdateFrequencyForAll(
+            1.0 / HardwareConstants.SIGNAL_FREQUENCY, statusSignals);
         BaseStatusSignal.refreshAll();
       }
       case CANIVORE -> BaseStatusSignal.waitForAll(HardwareConstants.TIMEOUT_S, statusSignals);