Run black 24.1.0

Author: auscompgeek

MecanumBot/drivetrain.py

@@ -117,11 +117,13 @@ def drive(
         """Method to drive the robot using joystick info."""
         mecanumDriveWheelSpeeds = self.kinematics.toWheelSpeeds(
             ChassisSpeeds.discretize(
-                ChassisSpeeds.fromFieldRelativeSpeeds(
-                    xSpeed, ySpeed, rot, self.gyro.getRotation2d()
-                )
-                if fieldRelative
-                else ChassisSpeeds(xSpeed, ySpeed, rot),
+                (
+                    ChassisSpeeds.fromFieldRelativeSpeeds(
+                        xSpeed, ySpeed, rot, self.gyro.getRotation2d()
+                    )
+                    if fieldRelative
+                    else ChassisSpeeds(xSpeed, ySpeed, rot)
+                ),
                 periodSeconds,
             )
         )

SwerveBot/drivetrain.py

@@ -70,11 +70,13 @@ def drive(
         """
         swerveModuleStates = self.kinematics.toSwerveModuleStates(
             wpimath.kinematics.ChassisSpeeds.discretize(
-                wpimath.kinematics.ChassisSpeeds.fromFieldRelativeSpeeds(
-                    xSpeed, ySpeed, rot, self.gyro.getRotation2d()
-                )
-                if fieldRelative
-                else wpimath.kinematics.ChassisSpeeds(xSpeed, ySpeed, rot),
+                (
+                    wpimath.kinematics.ChassisSpeeds.fromFieldRelativeSpeeds(
+                        xSpeed, ySpeed, rot, self.gyro.getRotation2d()
+                    )
+                    if fieldRelative
+                    else wpimath.kinematics.ChassisSpeeds(xSpeed, ySpeed, rot)
+                ),
                 periodSeconds,
             )
         )