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Team3256 · Nov 7, 2024 · 3b1ce3c · 3b1ce3c
1 parent 30ac321
commit 3b1ce3c
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Showing 2 changed files with 32 additions and 46 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -28,12 +28,9 @@
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
 /**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to
- * each mode, as described in the TimedRobot documentation. If you change the
- * name of this class or
- * the package after creating this project, you must also update the
- * build.gradle file in the
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
 public class Robot extends LoggedRobot implements Logged {
@@ -44,16 +41,15 @@ public class Robot extends LoggedRobot implements Logged {
   private double correctionAngle;
 
   /**
-   * This function is run when the robot is first started up and should be used
-   * for any
+   * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */
   @Override
   public void robotInit() {
     System.out.println("--Robot.robotInit()--");
     RobotController.setBrownoutVoltage(
         4.75); // the "blackout" voltage is 4.5 // lowk if this bot dont work im setting this
-               // to
+    // to
     // like 0
     configureAdvantageKit();
     if (Constants.FeatureFlags.kMonologueEnabled) {
@@ -64,15 +60,16 @@ public void robotInit() {
     m_robotContainer = new RobotContainer();
 
     Map<String, Integer> commandCounts = new HashMap<>();
-    BiConsumer<Command, Boolean> logCommandFunction = (Command command, Boolean active) -> {
-      String name = command.getName();
-      int count = commandCounts.getOrDefault(name, 0) + (active ? 1 : -1);
-      commandCounts.put(name, count);
-
-      Logger.recordOutput(
-          "CommandsUnique/" + name + "_" + Integer.toHexString(command.hashCode()), active);
-      Logger.recordOutput("CommandsAll/" + name, count > 0);
-    };
+    BiConsumer<Command, Boolean> logCommandFunction =
+        (Command command, Boolean active) -> {
+          String name = command.getName();
+          int count = commandCounts.getOrDefault(name, 0) + (active ? 1 : -1);
+          commandCounts.put(name, count);
+
+          Logger.recordOutput(
+              "CommandsUnique/" + name + "_" + Integer.toHexString(command.hashCode()), active);
+          Logger.recordOutput("CommandsAll/" + name, count > 0);
+        };
     CommandScheduler.getInstance()
         .onCommandInitialize(
             (Command command) -> {
@@ -108,8 +105,9 @@ private void configureAdvantageKit() {
     } else {
       if (Constants.Logging.kAdvkitUseReplayLogs) {
         setUseTiming(false); // Run as fast as possible
-        String logPath = LogFileUtil
-            .findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
+        String logPath =
+            LogFileUtil
+                .findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
         Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
         // Save outputs to a new log
         Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
@@ -166,13 +164,10 @@ private void configureMonologue() {
   }
 
   /**
-   * This function is called every 20 ms, no matter the mode. Use this for items
-   * like diagnostics
+   * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
    * that you want ran during disabled, autonomous, teleoperated and test.
    *
-   * <p>
-   * This runs after the mode specific periodic functions, but before LiveWindow
-   * and
+   * <p>This runs after the mode specific periodic functions, but before LiveWindow and
    * SmartDashboard integrated updating.
    */
   @Override
@@ -204,17 +199,12 @@ public void robotPeriodic() {
 
   /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-  }
+  public void disabledInit() {}
 
   @Override
-  public void disabledPeriodic() {
-  }
+  public void disabledPeriodic() {}
 
-  /**
-   * This autonomous runs the autonomous command selected by your
-   * {@link RobotContainer} class.
-   */
+  /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -227,8 +217,7 @@ public void autonomousInit() {
 
   /** This function is called periodically during autonomous. */
   @Override
-  public void autonomousPeriodic() {
-  }
+  public void autonomousPeriodic() {}
 
   @Override
   public void teleopInit() {
@@ -243,8 +232,7 @@ public void teleopInit() {
 
   /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {
-  }
+  public void teleopPeriodic() {}
 
   @Override
   public void testInit() {
@@ -254,8 +242,7 @@ public void testInit() {
 
   /** This function is called periodically during test mode. */
   @Override
-  public void testPeriodic() {
-  }
+  public void testPeriodic() {}
 
   @Override
   public void driverStationConnected() {
@@ -275,11 +262,9 @@ public void driverStationConnected() {
 
   /** This function is called once when the robot is first started up. */
   @Override
-  public void simulationInit() {
-  }
+  public void simulationInit() {}
 
   /** This function is called periodically whilst in simulation. */
   @Override
-  public void simulationPeriodic() {
-  }
+  public void simulationPeriodic() {}
 }
diff --git a/src/main/java/frc/robot/utils/StackJumper.java b/src/main/java/frc/robot/utils/StackJumper.java
@@ -15,9 +15,10 @@ public class StackJumper {
   public static String getCallerMethodName() {
     if (traceTime) {
       double d = HALUtil.getFPGATime();
-      String methodName = StackWalker.getInstance()
-          .walk(stream -> stream.skip(2).findFirst().get())
-          .getMethodName();
+      String methodName =
+          StackWalker.getInstance()
+              .walk(stream -> stream.skip(2).findFirst().get())
+              .getMethodName();
       System.out.println(
           "Time to get method name: " + (HALUtil.getFPGATime() - d) + " ns for " + methodName);
       return methodName;