sonarqube :'3

TitaniumTitans · Feb 3, 2024 · 24c6e6f · 24c6e6f
1 parent 7d0e12e
commit 24c6e6f
Showing 1 changed file with 84 additions and 86 deletions.
diff --git a/src/main/java/frc/robot/subsystems/arm/ArmIOPrototype.java b/src/main/java/frc/robot/subsystems/arm/ArmIOPrototype.java
@@ -3,96 +3,94 @@
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.PositionVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.hardware.core.CoreTalonFX;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import lib.properties.phoenix6.Phoenix6PidPropertyBuilder;
 import lib.properties.phoenix6.PidPropertyPublic;
 import org.littletonrobotics.junction.Logger;
 
 public class ArmIOPrototype implements ArmIO {
-    private final TalonFX m_shoulder;
-    private final TalonFX m_wrist;
-    private final PidPropertyPublic m_shoulderPID;
-    private final PidPropertyPublic m_wristPID;
-
-    public ArmIOPrototype() {
-        m_shoulder = new TalonFX(23);
-        m_wrist = new TalonFX(24);
-
-        TalonFXConfiguration config = new TalonFXConfiguration();
-        config.Feedback.SensorToMechanismRatio = 125.0 * (60.0 / 18.0);
-        config.Voltage.PeakForwardVoltage = 12;
-        config.Voltage.PeakReverseVoltage = -12;
-
-        m_shoulder.getConfigurator().apply(config);
-
-        config.Feedback.SensorToMechanismRatio = 125.0 * (38.0 / 18.0);
-        m_wrist.getConfigurator().apply(config);
-
-        m_wrist.stopMotor();
-        m_shoulder.stopMotor();
-
-        m_shoulderPID = new Phoenix6PidPropertyBuilder(
-                "Arm/Shoulder PID",
-                false,
-                m_shoulder,
-                0)
-                .addP(0.0)
-                .addI(0.0)
-                .addD(0.0)
-                .build();
-
-        m_wristPID = new Phoenix6PidPropertyBuilder(
-                "Arm/Wrist PID",
-                false,
-                m_wrist,
-                0)
-                .addP(0.0)
-                .addI(0.0)
-                .addD(0.0)
-                .build();
-
-    }
-
-    @Override
-    public void updateInputs(ArmIOInputsAutoLogged inputs) {
-        m_shoulderPID.updateIfChanged();
-        m_wristPID.updateIfChanged();
-
-        Logger.recordOutput("Should PID Output", m_shoulder.getClosedLoopOutput().getValueAsDouble());
-        Logger.recordOutput("Wrist PID Output", m_wrist.getClosedLoopOutput().getValueAsDouble());
-    }
-
-    @Override
-    public void setShoulderVoltage(double voltage){
-        m_shoulder.setVoltage(voltage);
-    }
-
-    @Override
-    public void setShoulderAngle(double degrees) {
-        final PositionVoltage m_request = new PositionVoltage(0).withSlot(0);
-        m_shoulder.setControl(m_request.withPosition(degrees / 360.0));
-    }
-
-    @Override
-    public void setWristVoltage(double voltage){
-        m_wrist.setVoltage(voltage);
-    }
-
-    @Override
-    public void setWristAngle(double degrees) {
-        final PositionVoltage m_request = new PositionVoltage(0).withSlot(0);
-        m_wrist.setControl(m_request.withPosition(degrees / 360.0));
-    }
-
-    @Override
-    public Rotation2d getWristPosition() {
-        return Rotation2d.fromRotations(m_wrist.getPosition().getValueAsDouble());
-    }
-
-    @Override
-    public Rotation2d getShoulderPosition() {
-        return Rotation2d.fromRotations(m_shoulder.getPosition().getValueAsDouble());
-    }
+  private final TalonFX m_shoulder;
+  private final TalonFX m_wrist;
+  private final PidPropertyPublic m_shoulderPID;
+  private final PidPropertyPublic m_wristPID;
+
+  public ArmIOPrototype() {
+    m_shoulder = new TalonFX(23);
+    m_wrist = new TalonFX(24);
+
+    TalonFXConfiguration config = new TalonFXConfiguration();
+    config.Feedback.SensorToMechanismRatio = 125.0 * (60.0 / 18.0);
+    config.Voltage.PeakForwardVoltage = 12;
+    config.Voltage.PeakReverseVoltage = -12;
+
+    m_shoulder.getConfigurator().apply(config);
+
+    config.Feedback.SensorToMechanismRatio = 125.0 * (38.0 / 18.0);
+    m_wrist.getConfigurator().apply(config);
+
+    m_wrist.stopMotor();
+    m_shoulder.stopMotor();
+
+    m_shoulderPID = new Phoenix6PidPropertyBuilder(
+        "Arm/Shoulder PID",
+        false,
+        m_shoulder,
+        0)
+        .addP(0.0)
+        .addI(0.0)
+        .addD(0.0)
+        .build();
+
+    m_wristPID = new Phoenix6PidPropertyBuilder(
+        "Arm/Wrist PID",
+        false,
+        m_wrist,
+        0)
+        .addP(0.0)
+        .addI(0.0)
+        .addD(0.0)
+        .build();
+
+  }
+
+  @Override
+  public void updateInputs(ArmIOInputsAutoLogged inputs) {
+    m_shoulderPID.updateIfChanged();
+    m_wristPID.updateIfChanged();
+
+    Logger.recordOutput("Should PID Output", m_shoulder.getClosedLoopOutput().getValueAsDouble());
+    Logger.recordOutput("Wrist PID Output", m_wrist.getClosedLoopOutput().getValueAsDouble());
+  }
+
+  @Override
+  public void setShoulderVoltage(double voltage){
+    m_shoulder.setVoltage(voltage);
+  }
+
+  @Override
+  public void setShoulderAngle(double degrees) {
+    final PositionVoltage request = new PositionVoltage(0).withSlot(0);
+    m_shoulder.setControl(request.withPosition(degrees / 360.0));
+  }
+
+  @Override
+  public void setWristVoltage(double voltage){
+    m_wrist.setVoltage(voltage);
+  }
+
+  @Override
+  public void setWristAngle(double degrees) {
+    final PositionVoltage request = new PositionVoltage(0).withSlot(0);
+    m_wrist.setControl(request.withPosition(degrees / 360.0));
+  }
+
+  @Override
+  public Rotation2d getWristPosition() {
+    return Rotation2d.fromRotations(m_wrist.getPosition().getValueAsDouble());
+  }
+
+  @Override
+  public Rotation2d getShoulderPosition() {
+    return Rotation2d.fromRotations(m_shoulder.getPosition().getValueAsDouble());
+  }
 }