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Team766 · Feb 23, 2024 · 7f3126a · 7f3126a
1 parent 24df9f7
commit 7f3126a
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Showing 4 changed files with 28 additions and 8 deletions.
diff --git a/src/main/java/com/team766/hal/LocalMotorController.java b/src/main/java/com/team766/hal/LocalMotorController.java
@@ -183,7 +183,8 @@ public double getSensorVelocity() {
     }
 
     @Override
-    public void set(final ControlMode mode, final double value, int slot, double arbitraryFeedForward) {
+    public void set(
+            final ControlMode mode, final double value, int slot, double arbitraryFeedForward) {
         if (slot != 0) {
             throw new UnsupportedOperationException(
                     "Selecting PID slots not supported on LocalMotorController");

diff --git a/src/main/java/com/team766/hal/MotorControllerWithSensorScale.java b/src/main/java/com/team766/hal/MotorControllerWithSensorScale.java
@@ -29,7 +29,8 @@ public double getSensorVelocity() {
     }
 
     @Override
-    public void set(final ControlMode mode, final double value, int slot, double arbitraryFeedForward) {
+    public void set(
+            final ControlMode mode, final double value, int slot, double arbitraryFeedForward) {
         switch (mode) {
             case PercentOutput:
                 delegate.set(mode, value);

diff --git a/src/main/java/com/team766/hal/wpilib/CANSparkMaxMotorController.java b/src/main/java/com/team766/hal/wpilib/CANSparkMaxMotorController.java
@@ -66,7 +66,8 @@ public double getSensorVelocity() {
     }
 
     @Override
-    public void set(final ControlMode mode, final double value, int slot, double arbitraryFeedForward) {
+    public void set(
+            final ControlMode mode, final double value, int slot, double arbitraryFeedForward) {
         // get the latest PID values for this slot
         pidSlotHelper.refreshPIDForSlot(this, slot);
         switch (mode) {
@@ -75,19 +76,35 @@ public void set(final ControlMode mode, final double value, int slot, double arb
                 break;
             case PercentOutput:
                 getPIDController()
-                        .setReference(value, CANSparkMax.ControlType.kDutyCycle, slot, arbitraryFeedForward);
+                        .setReference(
+                                value,
+                                CANSparkMax.ControlType.kDutyCycle,
+                                slot,
+                                arbitraryFeedForward);
                 break;
             case Position:
                 getPIDController()
-                        .setReference(value, CANSparkMax.ControlType.kPosition, slot, arbitraryFeedForward);
+                        .setReference(
+                                value,
+                                CANSparkMax.ControlType.kPosition,
+                                slot,
+                                arbitraryFeedForward);
                 break;
             case Velocity:
                 getPIDController()
-                        .setReference(value, CANSparkMax.ControlType.kVelocity, slot, arbitraryFeedForward);
+                        .setReference(
+                                value,
+                                CANSparkMax.ControlType.kVelocity,
+                                slot,
+                                arbitraryFeedForward);
                 break;
             case Voltage:
                 getPIDController()
-                        .setReference(value, CANSparkMax.ControlType.kVoltage, slot, arbitraryFeedForward);
+                        .setReference(
+                                value,
+                                CANSparkMax.ControlType.kVoltage,
+                                slot,
+                                arbitraryFeedForward);
             default:
                 throw new IllegalArgumentException("Unsupported control mode " + mode);
         }

diff --git a/src/main/java/com/team766/hal/wpilib/CANTalonFxMotorController.java b/src/main/java/com/team766/hal/wpilib/CANTalonFxMotorController.java
@@ -75,7 +75,8 @@ private void refreshConfig() {
     }
 
     @Override
-    public void set(final ControlMode mode, double value, int pidSlot, double arbitraryFeedForward) {
+    public void set(
+            final ControlMode mode, double value, int pidSlot, double arbitraryFeedForward) {
         switch (mode) {
             case Disabled:
                 super.disable();