formatting

Author: fletch3555

digital-communication/robot.py

@@ -8,7 +8,6 @@
 
 
 class MyRobot(wpilib.TimedRobot):
-
     # define ports for digitalcommunication with light controller
     ALLIANCE_PORT = 0
     ENABLED_PORT = 1

dutycycle-encoder/robot.py

@@ -4,7 +4,6 @@
 
 
 class MyRobot(wpilib.TimedRobot):
-
     def robotInit(self):
         """Robot initialization function"""
 

dutycycle-input/robot.py

@@ -4,7 +4,6 @@
 
 
 class MyRobot(wpilib.TimedRobot):
-
     def robotInit(self):
         """Robot initialization function"""
 

encoder/robot.py

@@ -18,7 +18,6 @@
 
 
 class MyRobot(wpilib.TimedRobot):
-
     def robotInit(self):
         """Robot initialization function"""
 

flywheel-bangbang-controller/robot.py

@@ -14,7 +14,6 @@
 
 
 class MyRobot(wpilib.TimedRobot):
-
     MOTOR_PORT = 0
     ENCODER_A_CHANNEL = 0
     ENCODER_B_CHANNEL = 1
@@ -32,12 +31,18 @@ class MyRobot(wpilib.TimedRobot):
     FLYWHEEL_GEARING = 1.0
 
     # 1/2 MR²
-    FLYWHEEL_MOMENT_OF_INERTIA = 0.5 * wpimath.units.lbsToKilograms(1.5) * math.pow(wpimath.units.inchesToMeters(4), 2)
+    FLYWHEEL_MOMENT_OF_INERTIA = (
+        0.5
+        * wpimath.units.lbsToKilograms(1.5)
+        * math.pow(wpimath.units.inchesToMeters(4), 2)
+    )
 
     def robotInit(self):
         """Robot initialization function"""
 
-        self.feedforward = wpimath.controller.SimpleMotorFeedforwardMeters(self.FLYWHEEL_KS, self.FLYWHEEL_KV, self.FLYWHEEL_KA)
+        self.feedforward = wpimath.controller.SimpleMotorFeedforwardMeters(
+            self.FLYWHEEL_KS, self.FLYWHEEL_KV, self.FLYWHEEL_KA
+        )
 
         # Joystick to control setpoint
         self.joystick = wpilib.Joystick(0)
@@ -48,7 +53,9 @@ def robotInit(self):
         self.bangBangControler = wpimath.controller.BangBangController()
 
         # Simulation classes help us simulate our robot
-        self.flywheelSim = wpilib.simulation.FlywheelSim(DCMotor.NEO(1), self.FLYWHEEL_GEARING, self.FLYWHEEL_MOMENT_OF_INERTIA);
+        self.flywheelSim = wpilib.simulation.FlywheelSim(
+            DCMotor.NEO(1), self.FLYWHEEL_GEARING, self.FLYWHEEL_MOMENT_OF_INERTIA
+        )
         self.encoderSim = wpilib.simulation.EncoderSim(self.encoder)
 
         # Add bang-bang controler to SmartDashboard and networktables.
@@ -59,24 +66,33 @@ def teleopPeriodic(self):
 
         # Scale setpoint value between 0 and maxSetpointValue
         setpoint = max(
-           0.0,
-           self.joystick.getRawAxis(0) * wpimath.units.rotationsPerMinuteToRadiansPerSecond(self.MAX_SETPOINT_VALUE)
+            0.0,
+            self.joystick.getRawAxis(0)
+            * wpimath.units.rotationsPerMinuteToRadiansPerSecond(
+                self.MAX_SETPOINT_VALUE
+            ),
         )
 
         # Set setpoint and measurement of the bang-bang controller
-        bangOutput = self.bangBangControler.calculate(self.encoder.getRate(), setpoint) * 12.0
+        bangOutput = (
+            self.bangBangControler.calculate(self.encoder.getRate(), setpoint) * 12.0
+        )
 
         # Controls a motor with the output of the BangBang controller and a
         # feedforward. The feedforward is reduced slightly to avoid overspeeding
         # the shooter.
-        self.flywheelMotor.setVoltage(bangOutput + 0.9 * self.feedforward.calculate(setpoint))
+        self.flywheelMotor.setVoltage(
+            bangOutput + 0.9 * self.feedforward.calculate(setpoint)
+        )
 
     def _simulationPeriodic(self):
         """Update our simulation. This should be run every robot loop in simulation."""
 
         # To update our simulation, we set motor voltage inputs, update the
         # simulation, and write the simulated velocities to our simulated encoder
-        self.flywheelSim.setInputVoltage(self.flywheelMotor.get() * wpilib.RobotController.getInputVoltage())
+        self.flywheelSim.setInputVoltage(
+            self.flywheelMotor.get() * wpilib.RobotController.getInputVoltage()
+        )
         self.flywheelSim.update(0.02)
         self.encoderSim.setRate(self.flywheelSim.getAngularVelocity())
 

gyro-mecanum/robot.py

@@ -9,7 +9,6 @@
 
 
 class MyRobot(wpilib.TimedRobot):
-
     # gyro calibration constant, may need to be adjusted;
     # gyro value of 360 is set to correspond to one full revolution
     VOLTS_PER_DEGREE_PER_SECOND = 0.0128
@@ -43,8 +42,10 @@ def robotInit(self):
 
     def teleopPeriodic(self):
         self.robotDrive.driveCartesian(
-            -self.joystick.getY(), -self.joystick.getX(), -self.joystick.getZ(),
-            self.gyro.getRotation2d()
+            -self.joystick.getY(),
+            -self.joystick.getX(),
+            -self.joystick.getZ(),
+            self.gyro.getRotation2d(),
         )
 
 

hid-rumble/robot.py

@@ -7,7 +7,6 @@
 
 
 class MyRobot(wpilib.TimedRobot):
-
     def robotInit(self):
         """Robot initialization function"""