From fa38602e24a349ce9f0e7253b5a165e18c3bfb7f Mon Sep 17 00:00:00 2001
From: jpothen8 <jpothen8@gmail.com>
Date: Tue, 14 May 2024 20:02:35 -0400
Subject: [PATCH] make ktlint happy

---
 .../frc/team449/control/auto/PIDPoseAlign.kt   |  2 +-
 .../team449/control/holonomic/SwerveModule.kt  |  2 +-
 .../auto/routines/FourPieceAmpHelper.kt        | 10 ----------
 .../robot2024/subsystems/ControllerBindings.kt | 18 +++++++++---------
 .../subsystems/shooter/SpinShooter.kt          |  1 -
 5 files changed, 11 insertions(+), 22 deletions(-)

diff --git a/src/main/kotlin/frc/team449/control/auto/PIDPoseAlign.kt b/src/main/kotlin/frc/team449/control/auto/PIDPoseAlign.kt
index 326738c..a1c583a 100644
--- a/src/main/kotlin/frc/team449/control/auto/PIDPoseAlign.kt
+++ b/src/main/kotlin/frc/team449/control/auto/PIDPoseAlign.kt
@@ -26,7 +26,7 @@ class PIDPoseAlign(
   private val yController: PIDController = PIDController(AutoConstants.DEFAULT_Y_KP, 0.0, 0.0),
   private val thetaController: PIDController = PIDController(AutoConstants.DEFAULT_ROTATION_KP, 0.0, 0.0),
   poseTol: Pose2d = Pose2d(0.035, 0.035, Rotation2d(0.035)),
-  private val timeout: Double = 0.65,
+  private val timeout: Double = 0.65
 ) : Command() {
 
   private val timer = Timer()
diff --git a/src/main/kotlin/frc/team449/control/holonomic/SwerveModule.kt b/src/main/kotlin/frc/team449/control/holonomic/SwerveModule.kt
index 6dc7c53..de50f36 100644
--- a/src/main/kotlin/frc/team449/control/holonomic/SwerveModule.kt
+++ b/src/main/kotlin/frc/team449/control/holonomic/SwerveModule.kt
@@ -113,7 +113,7 @@ open class SwerveModule(
     turningMotor.set(
       turnPid +
         sign(desiredState.angle.radians - turningMotor.position) *
-        SwerveConstants.STEER_KS
+          SwerveConstants.STEER_KS
     )
   }
 
diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceAmpHelper.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceAmpHelper.kt
index e53de16..0ce6df4 100644
--- a/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceAmpHelper.kt
+++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/FourPieceAmpHelper.kt
@@ -44,16 +44,6 @@ class FourPieceAmpHelper(
     )
   ) - shot2Offset
 
-  init {
-    println(FieldConstants.BLUE_SPEAKER_POSE.getDistance(
-      Translation2d(
-        3.7641966342926025,
-        6.230502605438232
-      )
-    ))
-    println(shot1PivotAngle)
-  }
-
   override val routine =
     ChoreoRoutine(
       thetaController = PIDController(2.85, 0.0, 0.075),
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
index f49cf4c..7ea94e6 100644
--- a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
+++ b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
@@ -278,15 +278,15 @@ class ControllerBindings(
                 )
             )
         )
-          .andThen(
-            robot.pivot.moveAmp()
-              .alongWith(
-                robot.shooter.scoreAmp(),
-                WaitUntilCommand { robot.pivot.inAmpTolerance() && robot.shooter.atAmpSetpoint() }
-                  .andThen(robot.feeder.intake())
-              )
-                .until { robot.infrared.get() && robot.closeToShooterInfrared.get() }
-          )
+        .andThen(
+          robot.pivot.moveAmp()
+            .alongWith(
+              robot.shooter.scoreAmp(),
+              WaitUntilCommand { robot.pivot.inAmpTolerance() && robot.shooter.atAmpSetpoint() }
+                .andThen(robot.feeder.intake())
+            )
+            .until { robot.infrared.get() && robot.closeToShooterInfrared.get() }
+        )
     )
 
 //    driveController.leftBumper().onTrue(
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt
index abec6d8..8a75a45 100644
--- a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt
+++ b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooter.kt
@@ -781,7 +781,6 @@ open class SpinShooter(
       println(leftController.k.get(0, 0))
       println(rightController.k.get(0, 0))
 
-
       return if (RobotBase.isReal()) {
         SpinShooter(
           rightMotor,