Committing clang-format changes

purduesigbots · Feb 14, 2024 · 770f506 · 770f506
1 parent 9e12bc3
commit 770f506
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Showing 14 changed files with 79 additions and 52 deletions.
diff --git a/include/VOSS/chassis/AbstractChassis.hpp b/include/VOSS/chassis/AbstractChassis.hpp
@@ -23,8 +23,8 @@ class AbstractChassis {
     void move_task(controller_ptr controller, double max, voss::Flags flags,
                    double exitTime);
 
-    void turn_task(controller_ptr controller, double max, voss::Flags flags, voss::AngularDirection direction,
-                   double exitTime);
+    void turn_task(controller_ptr controller, double max, voss::Flags flags,
+                   voss::AngularDirection direction, double exitTime);
 
   public:
     AbstractChassis(controller_ptr default_controller);
@@ -44,15 +44,23 @@ class AbstractChassis {
               voss::Flags flags = voss::Flags::NONE, double exitTime = 22500);
 
     void turn(double target, controller_ptr controller, double max = 100.0,
-              voss::Flags flags = voss::Flags::NONE, voss::AngularDirection direction = voss::AngularDirection::AUTO, double exitTime = 22500);
+              voss::Flags flags = voss::Flags::NONE,
+              voss::AngularDirection direction = voss::AngularDirection::AUTO,
+              double exitTime = 22500);
     void turn(double target, double max = 100.0,
-              voss::Flags flags = voss::Flags::NONE, voss::AngularDirection direction = voss::AngularDirection::AUTO, double exitTime = 22500);
-    void turn_to(Point target, controller_ptr controller, double max = 100.0,
-                 voss::Flags flags = voss::Flags::NONE, voss::AngularDirection direction = voss::AngularDirection::AUTO,
-                 double exitTime = 22500);
-    void turn_to(Point target, double max = 100.0,
-                 voss::Flags flags = voss::Flags::NONE, voss::AngularDirection direction = voss::AngularDirection::AUTO,
-                 double exitTime = 22500);
+              voss::Flags flags = voss::Flags::NONE,
+              voss::AngularDirection direction = voss::AngularDirection::AUTO,
+              double exitTime = 22500);
+    void
+    turn_to(Point target, controller_ptr controller, double max = 100.0,
+            voss::Flags flags = voss::Flags::NONE,
+            voss::AngularDirection direction = voss::AngularDirection::AUTO,
+            double exitTime = 22500);
+    void
+    turn_to(Point target, double max = 100.0,
+            voss::Flags flags = voss::Flags::NONE,
+            voss::AngularDirection direction = voss::AngularDirection::AUTO,
+            double exitTime = 22500);
 };
 
 } // namespace voss::chassis
diff --git a/include/VOSS/controller/AbstractController.hpp b/include/VOSS/controller/AbstractController.hpp
@@ -17,8 +17,9 @@ class AbstractController {
     AbstractController(std::shared_ptr<localizer::AbstractLocalizer> l);
 
     virtual chassis::ChassisCommand get_command(bool reverse, bool thru) = 0;
-    virtual chassis::ChassisCommand get_angular_command(bool reverse,
-                                                        bool thru, voss::AngularDirection direction) = 0;
+    virtual chassis::ChassisCommand
+    get_angular_command(bool reverse, bool thru,
+                        voss::AngularDirection direction) = 0;
 
     virtual void reset() = 0;
 

diff --git a/include/VOSS/controller/ArcPIDController.hpp b/include/VOSS/controller/ArcPIDController.hpp
@@ -26,8 +26,9 @@ class ArcPIDController : public AbstractController {
     double linear_pid(double error);
 
     chassis::ChassisCommand get_command(bool reverse, bool thru) override;
-    chassis::ChassisCommand get_angular_command(bool reverse,
-                                                bool thru, voss::AngularDirection direction) override;
+    chassis::ChassisCommand
+    get_angular_command(bool reverse, bool thru,
+                        voss::AngularDirection direction) override;
 
     void reset() override;
 

diff --git a/include/VOSS/controller/BoomerangController.hpp b/include/VOSS/controller/BoomerangController.hpp
@@ -17,8 +17,9 @@ class BoomerangController : public AbstractController {
     BoomerangController(std::shared_ptr<localizer::AbstractLocalizer> l);
 
     chassis::ChassisCommand get_command(bool reverse, bool thru) override;
-    chassis::ChassisCommand get_angular_command(bool reverse,
-                                                bool thru, voss::AngularDirection direction) override;
+    chassis::ChassisCommand
+    get_angular_command(bool reverse, bool thru,
+                        voss::AngularDirection direction) override;
 
     void reset();
 

diff --git a/include/VOSS/controller/PIDController.hpp b/include/VOSS/controller/PIDController.hpp
@@ -31,8 +31,9 @@ class PIDController : public AbstractController {
     double angular_pid(double error);
 
     chassis::ChassisCommand get_command(bool reverse, bool thru) override;
-    chassis::ChassisCommand get_angular_command(bool reverse,
-                                                bool thru, voss::AngularDirection direction) override;
+    chassis::ChassisCommand
+    get_angular_command(bool reverse, bool thru,
+                        voss::AngularDirection direction) override;
 
     void reset() override;
 

diff --git a/include/VOSS/controller/SwingController.hpp b/include/VOSS/controller/SwingController.hpp
@@ -24,8 +24,9 @@ class SwingController : public AbstractController {
     SwingController(std::shared_ptr<localizer::AbstractLocalizer> l);
 
     chassis::ChassisCommand get_command(bool reverse, bool thru) override;
-    chassis::ChassisCommand get_angular_command(bool reverse,
-                                                bool thru, voss::AngularDirection direction) override;
+    chassis::ChassisCommand
+    get_angular_command(bool reverse, bool thru,
+                        voss::AngularDirection direction) override;
 
     double angular_pid(double error);
 

diff --git a/include/VOSS/utils/angle.hpp b/include/VOSS/utils/angle.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
-#include <cmath>
 #include "VOSS/utils/flags.hpp"
+#include <cmath>
 
 namespace voss {
 

diff --git a/include/VOSS/utils/flags.hpp b/include/VOSS/utils/flags.hpp
@@ -22,9 +22,5 @@ auto inline operator&(Flags flag1, Flags flag2) {
                              static_cast<uint8_t>(flag2));
 }
 
-enum class AngularDirection {
-    AUTO,
-    COUNTERCLOCKWISE,
-    CLOCKWISE
-};
+enum class AngularDirection { AUTO, COUNTERCLOCKWISE, CLOCKWISE };
 } // namespace voss
diff --git a/src/VOSS/chassis/AbstractChassis.cpp b/src/VOSS/chassis/AbstractChassis.cpp
@@ -41,14 +41,16 @@ void AbstractChassis::move_task(controller_ptr controller, double max,
 }
 
 void AbstractChassis::turn_task(controller_ptr controller, double max,
-                                voss::Flags flags, voss::AngularDirection direction, double exitTime) {
+                                voss::Flags flags,
+                                voss::AngularDirection direction,
+                                double exitTime) {
     int t = 0;
     pros::Task running_t([&, controller]() {
         controller->reset();
-        while (!this->execute(
-            controller->get_angular_command(flags & voss::Flags::REVERSE,
-                                            flags & voss::Flags::THRU, direction),
-            max)) {
+        while (!this->execute(controller->get_angular_command(
+                                  flags & voss::Flags::REVERSE,
+                                  flags & voss::Flags::THRU, direction),
+                              max)) {
             if (pros::competition::is_disabled()) {
                 return;
             }
@@ -94,13 +96,15 @@ void AbstractChassis::move(Pose target, controller_ptr controller, double max,
     this->move_task(controller, max, flags, exitTime);
 }
 
-void AbstractChassis::turn(double target, double max, voss::Flags flags, voss::AngularDirection direction,
-                           double exitTime) {
-    this->turn(target, this->default_controller, max, flags, direction, exitTime);
+void AbstractChassis::turn(double target, double max, voss::Flags flags,
+                           voss::AngularDirection direction, double exitTime) {
+    this->turn(target, this->default_controller, max, flags, direction,
+               exitTime);
 }
 
 void AbstractChassis::turn(double target, controller_ptr controller, double max,
-                           voss::Flags flags, voss::AngularDirection direction, double exitTime) {
+                           voss::Flags flags, voss::AngularDirection direction,
+                           double exitTime) {
     // this->m.take();
 
     controller->set_target({0, 0, 0}, false);
@@ -109,13 +113,17 @@ void AbstractChassis::turn(double target, controller_ptr controller, double max,
     this->turn_task(controller, max, flags, direction, exitTime);
 }
 
-void AbstractChassis::turn_to(Point target, double max, voss::Flags flags, voss::AngularDirection direction,
+void AbstractChassis::turn_to(Point target, double max, voss::Flags flags,
+                              voss::AngularDirection direction,
                               double exitTime) {
-    this->turn_to(target, this->default_controller, max, flags, direction, exitTime);
+    this->turn_to(target, this->default_controller, max, flags, direction,
+                  exitTime);
 }
 
 void AbstractChassis::turn_to(Point target, controller_ptr controller,
-                              double max, voss::Flags flags, voss::AngularDirection direction, double exitTime) {
+                              double max, voss::Flags flags,
+                              voss::AngularDirection direction,
+                              double exitTime) {
     // this->m.take();
 
     controller->set_target({target.x, target.y, 361},

diff --git a/src/VOSS/controller/ArcPIDController.cpp b/src/VOSS/controller/ArcPIDController.cpp
@@ -88,8 +88,9 @@ chassis::ChassisCommand ArcPIDController::get_command(bool reverse, bool thru) {
     return chassis::ChassisCommand{chassis::Voltages{left_speed, right_speed}};
 }
 
-chassis::ChassisCommand ArcPIDController::get_angular_command(bool reverse,
-                                                              bool thru, voss::AngularDirection direction) {
+chassis::ChassisCommand
+ArcPIDController::get_angular_command(bool reverse, bool thru,
+                                      voss::AngularDirection direction) {
     return chassis::ChassisCommand{chassis::Stop{}};
 }
 

diff --git a/src/VOSS/controller/BoomerangController.cpp b/src/VOSS/controller/BoomerangController.cpp
@@ -32,8 +32,9 @@ chassis::ChassisCommand BoomerangController::get_command(bool reverse,
     return child->get_command(reverse, thru);
 }
 
-chassis::ChassisCommand BoomerangController::get_angular_command(bool reverse,
-                                                                 bool thru, voss::AngularDirection direction) {
+chassis::ChassisCommand
+BoomerangController::get_angular_command(bool reverse, bool thru,
+                                         voss::AngularDirection direction) {
     child->set_target(target, false);
     child->set_angular_target(angular_target, false);
     return child->get_angular_command(reverse, thru, direction);

diff --git a/src/VOSS/controller/PIDController.cpp b/src/VOSS/controller/PIDController.cpp
@@ -104,8 +104,9 @@ chassis::ChassisCommand PIDController::get_command(bool reverse, bool thru) {
         chassis::Voltages{lin_speed - ang_speed, lin_speed + ang_speed}};
 }
 
-chassis::ChassisCommand PIDController::get_angular_command(bool reverse,
-                                                           bool thru, voss::AngularDirection direction) {
+chassis::ChassisCommand
+PIDController::get_angular_command(bool reverse, bool thru,
+                                   voss::AngularDirection direction) {
     counter += 10;
     double current_angle = this->l->get_orientation_rad();
     double target_angle = 0;
@@ -126,9 +127,11 @@ chassis::ChassisCommand PIDController::get_angular_command(bool reverse,
     }
 
     if (!turn_overshoot) {
-        if (direction == voss::AngularDirection::COUNTERCLOCKWISE && angular_error < 0) {
+        if (direction == voss::AngularDirection::COUNTERCLOCKWISE &&
+            angular_error < 0) {
             angular_error += 2 * M_PI;
-        } else if (direction == voss::AngularDirection::CLOCKWISE && angular_error > 0) {
+        } else if (direction == voss::AngularDirection::CLOCKWISE &&
+                   angular_error > 0) {
             angular_error -= 2 * M_PI;
         }
     }

diff --git a/src/VOSS/controller/SwingController.cpp b/src/VOSS/controller/SwingController.cpp
@@ -10,8 +10,9 @@ chassis::ChassisCommand SwingController::get_command(bool reverse, bool thru) {
     return chassis::ChassisCommand{chassis::Stop{}};
 }
 
-chassis::ChassisCommand SwingController::get_angular_command(bool reverse,
-                                                             bool thru, voss::AngularDirection direction) {
+chassis::ChassisCommand
+SwingController::get_angular_command(bool reverse, bool thru,
+                                     voss::AngularDirection direction) {
     counter += 10;
     double current_angle = this->l->get_orientation_rad();
     double target_angle = 0;
@@ -32,9 +33,11 @@ chassis::ChassisCommand SwingController::get_angular_command(bool reverse,
     }
 
     if (!turn_overshoot) {
-        if (direction == voss::AngularDirection::COUNTERCLOCKWISE && angular_error < 0) {
+        if (direction == voss::AngularDirection::COUNTERCLOCKWISE &&
+            angular_error < 0) {
             angular_error += 2 * M_PI;
-        } else if (direction == voss::AngularDirection::CLOCKWISE && angular_error > 0) {
+        } else if (direction == voss::AngularDirection::CLOCKWISE &&
+                   angular_error > 0) {
             angular_error -= 2 * M_PI;
         }
     }

diff --git a/src/main.cpp b/src/main.cpp
@@ -107,9 +107,11 @@ void opcontrol() {
 
         if (master.get_digital_new_press(DIGITAL_Y)) {
             odom->set_pose(voss::Pose{0.0, 0.0, 0});
-            chassis.turn(270, 100, voss::Flags::NONE, voss::AngularDirection::COUNTERCLOCKWISE);
+            chassis.turn(270, 100, voss::Flags::NONE,
+                         voss::AngularDirection::COUNTERCLOCKWISE);
             chassis.turn(0);
-            chassis.turn(-270, swing, 100, voss::Flags::NONE, voss::AngularDirection::CLOCKWISE);
+            chassis.turn(-270, swing, 100, voss::Flags::NONE,
+                         voss::AngularDirection::CLOCKWISE);
         }
 
         pros::lcd::clear_line(1);