prep

Team3256 · Nov 6, 2024 · d983f4c · d983f4c
1 parent 85d3888
commit d983f4c
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Showing 2 changed files with 16 additions and 17 deletions.
diff --git a/src/main/java/frc/robot/subsystems/climb/ClimbConstants.java b/src/main/java/frc/robot/subsystems/climb/ClimbConstants.java
@@ -46,18 +46,18 @@ public final class ClimbConstants {
                   .withStatorCurrentLimitEnable(true)
                   .withStatorCurrentLimit(60));
   public static final TalonFXConfiguration righClimbConfig =
-          new TalonFXConfiguration()
-                  .withSlot0(new Slot0Configs().withKS(0).withKV(0).withKP(1).withKI(0).withKD(0))
-                  .withMotorOutput(
-                          new MotorOutputConfigs()
-                                  .withNeutralMode(NeutralModeValue.Brake)
-                                  .withInverted(InvertedValue.Clockwise_Positive))
-                  .withMotionMagic(
-                          new MotionMagicConfigs()
-                                  .withMotionMagicAcceleration(400)
-                                  .withMotionMagicCruiseVelocity(100))
-                  .withCurrentLimits(
-                          new CurrentLimitsConfigs()
-                                  .withStatorCurrentLimitEnable(true)
-                                  .withStatorCurrentLimit(60));
+      new TalonFXConfiguration()
+          .withSlot0(new Slot0Configs().withKS(0).withKV(0).withKP(1).withKI(0).withKD(0))
+          .withMotorOutput(
+              new MotorOutputConfigs()
+                  .withNeutralMode(NeutralModeValue.Brake)
+                  .withInverted(InvertedValue.Clockwise_Positive))
+          .withMotionMagic(
+              new MotionMagicConfigs()
+                  .withMotionMagicAcceleration(400)
+                  .withMotionMagicCruiseVelocity(100))
+          .withCurrentLimits(
+              new CurrentLimitsConfigs()
+                  .withStatorCurrentLimitEnable(true)
+                  .withStatorCurrentLimit(60));
 }
diff --git a/src/main/java/frc/robot/subsystems/climb/ClimbIOTalonFX.java b/src/main/java/frc/robot/subsystems/climb/ClimbIOTalonFX.java
@@ -30,8 +30,6 @@ public class ClimbIOTalonFX implements ClimbIO {
   private final StatusSignal<Double> climbMotorReferenceSlope =
       leftClimbMotor.getClosedLoopReferenceSlope();
 
-
-
   private final TalonFX rightClimbMotor = new TalonFX(ClimbConstants.kRightClimbMotorID);
 
   private final Follower rightClimbFollowReq = new Follower(leftClimbMotor.getDeviceID(), false);
@@ -42,7 +40,8 @@ public ClimbIOTalonFX() {
     TalonUtil.applyAndCheckConfiguration(leftClimbMotor, leftClimbConfig);
 
     var rightClimbConfig = ClimbConstants.righClimbConfig;
-    PhoenixUtil.checkErrorAndRetry(() -> rightClimbMotor.getConfigurator().refresh(rightClimbConfig));
+    PhoenixUtil.checkErrorAndRetry(
+        () -> rightClimbMotor.getConfigurator().refresh(rightClimbConfig));
     TalonUtil.applyAndCheckConfiguration(rightClimbMotor, rightClimbConfig);
 
     BaseStatusSignal.setUpdateFrequencyForAll(