finxing things

Gears-and-Buccaneers · Jan 4, 2024 · 2d70118 · 2d70118
1 parent 54d972b
commit 2d70118
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Showing 7 changed files with 25 additions and 22 deletions.
diff --git a/...frc/lib/hardware/HardwareRequirments.java → ...rc/lib/hardware/HardwareRequirements.java b/...frc/lib/hardware/HardwareRequirments.java → ...rc/lib/hardware/HardwareRequirements.java
@@ -3,7 +3,7 @@
 import org.littletonrobotics.junction.LogTable;
 import org.littletonrobotics.junction.inputs.LoggableInputs;
 
-public interface HardwareRequirments extends AutoCloseable, LoggableInputs {
+public interface HardwareRequirements extends AutoCloseable, LoggableInputs {
 
   boolean connected();
 

diff --git a/src/main/java/frc/lib/hardware/Motors/Motor.java b/src/main/java/frc/lib/hardware/Motors/Motor.java
@@ -6,7 +6,7 @@
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.FlywheelSim;
-import frc.lib.hardware.HardwareRequirments;
+import frc.lib.hardware.HardwareRequirements;
 import frc.lib.hardware.Motors.MotorControlers.MotorController;
 import frc.lib.hardware.Motors.MotorControlers.Talon_SRX;
 import frc.lib.hardware.Motors.PID.EncoderConfigs;
@@ -16,7 +16,7 @@
 import frc.robot.Robot;
 import org.littletonrobotics.junction.LogTable;
 
-public class Motor implements HardwareRequirments {
+public class Motor implements HardwareRequirements {
   // Enums --------------
   public enum Type {
     CIM(DCMotor.getFalcon500(1)),
@@ -174,8 +174,10 @@ public double getPositoin() {
     if (RobotBase.isReal()) {
       return mEncoder.getPositoin();
     } else {
-      if (simVelocity) return mSimPositionMeters;
-      else return mSimPositionRad;
+      if (simVelocity)
+        return mSimPositionMeters;
+      else
+        return mSimPositionRad;
     }
   }
 
@@ -223,10 +225,8 @@ private void logSim(LogTable table) {
 
     mSim.update(Robot.defaultPeriodSecs);
 
-    mSimPositionRad =
-        mSimPositionRad + (mSim.getAngularVelocityRadPerSec() * Robot.defaultPeriodSecs);
-    mSimPositionMeters +=
-        (mSim.getAngularVelocityRadPerSec() * Robot.defaultPeriodSecs) * Units.inchesToMeters(2);
+    mSimPositionRad = mSimPositionRad + (mSim.getAngularVelocityRadPerSec() * Robot.defaultPeriodSecs);
+    mSimPositionMeters += (mSim.getAngularVelocityRadPerSec() * Robot.defaultPeriodSecs) * Units.inchesToMeters(2);
     mSimVelocityDeg = mSim.getAngularVelocityRadPerSec();
     mSimVelocityMeters = mSim.getAngularVelocityRadPerSec() * Units.inchesToMeters(2);
     // --------------------------------------------------------
@@ -245,8 +245,10 @@ private void logSim(LogTable table) {
 
   @Override
   public boolean connected() {
-    if (!mController.connected()) return false;
-    if (hasEncoder) return mEncoder.connected();
+    if (!mController.connected())
+      return false;
+    if (hasEncoder)
+      return mEncoder.connected();
     return true;
   }
 }
diff --git a/src/main/java/frc/lib/hardware/Motors/Motor2.java b/src/main/java/frc/lib/hardware/Motors/Motor2.java
@@ -6,7 +6,7 @@
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.simulation.FlywheelSim;
-import frc.lib.hardware.HardwareRequirments;
+import frc.lib.hardware.HardwareRequirements;
 import frc.lib.hardware.Motors.MotorControlers.MotorController;
 import frc.lib.hardware.Motors.MotorControlers.Talon_SRX;
 import frc.lib.hardware.Motors.PID.EncoderConfigs;
@@ -16,7 +16,7 @@
 import frc.robot.Robot;
 import org.littletonrobotics.junction.LogTable;
 
-public class Motor2 implements HardwareRequirments {
+public class Motor2 implements HardwareRequirements {
   // Enums --------------
   public enum Type {
     CIM(DCMotor.getFalcon500(1)),

diff --git a/src/main/java/frc/lib/hardware/Motors/MotorControlers/MotorController.java b/src/main/java/frc/lib/hardware/Motors/MotorControlers/MotorController.java
@@ -1,8 +1,8 @@
 package frc.lib.hardware.Motors.MotorControlers;
 
-import frc.lib.hardware.HardwareRequirments;
+import frc.lib.hardware.HardwareRequirements;
 
-public interface MotorController extends HardwareRequirments {
+public interface MotorController extends HardwareRequirements {
 
   MotorController config(int canID);
 

diff --git a/src/main/java/frc/lib/hardware/sensor/encoders/Encoder.java b/src/main/java/frc/lib/hardware/sensor/encoders/Encoder.java
@@ -1,8 +1,8 @@
 package frc.lib.hardware.sensor.encoders;
 
-import frc.lib.hardware.HardwareRequirments;
+import frc.lib.hardware.HardwareRequirements;
 
-public interface Encoder extends HardwareRequirments {
+public interface Encoder extends HardwareRequirements {
 
   Encoder config();
 

diff --git a/src/main/java/frc/lib/hardware/sensor/imu/IMU.java b/src/main/java/frc/lib/hardware/sensor/imu/IMU.java
@@ -2,10 +2,10 @@
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
-import frc.lib.hardware.HardwareRequirments;
+import frc.lib.hardware.HardwareRequirements;
 import org.littletonrobotics.junction.LogTable;
 
-public interface IMU extends HardwareRequirments {
+public interface IMU extends HardwareRequirements {
 
   Rotation2d getPitch();
 
@@ -41,5 +41,6 @@ default void toLog(LogTable table) {
   }
 
   @Override
-  default void fromLog(LogTable table) {}
+  default void fromLog(LogTable table) {
+  }
 }
diff --git a/src/main/java/frc/lib/hardware/sensor/proximitySwitch/ProximitySwitch.java b/src/main/java/frc/lib/hardware/sensor/proximitySwitch/ProximitySwitch.java
@@ -1,9 +1,9 @@
 package frc.lib.hardware.sensor.proximitySwitch;
 
 import edu.wpi.first.wpilibj2.command.button.Trigger;
-import frc.lib.hardware.HardwareRequirments;
+import frc.lib.hardware.HardwareRequirements;
 
-public interface ProximitySwitch extends HardwareRequirments {
+public interface ProximitySwitch extends HardwareRequirements {
   /**
    * @return true if open false if closed
    */