redux

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
   "enableCppIntellisense": false,
   "currentLanguage": "java",
   "projectYear": "2024",
-  "teamNumber": 9990
+  "teamNumber": 4930
 }

src/main/java/frc/robot/subsystems/drive/GyroIO.java

@@ -23,5 +23,4 @@ class GyroIOInputs {
   }
 
   default void resetIMU() {}
-
 }

src/main/java/frc/robot/subsystems/drive/GyroIORedux.java

@@ -2,38 +2,34 @@
 
 import com.reduxrobotics.sensors.canandgyro.Canandgyro;
 
-/**
- * Hardware interface for the Reduxrobotics Can-and-gyro IMU
- */
+/** Hardware interface for the Reduxrobotics Can-and-gyro IMU */
 public class GyroIORedux implements GyroIO {
-    private final Canandgyro gyro;
+  private final Canandgyro gyro;
 
-    /**
-     * Creates a new gyro, with period 0.02 on yaw updates, and 0.1 on status updates.
-     */
-    public GyroIORedux() {
-        gyro = new Canandgyro(50);
-        gyro.clearStickyFaults();
-        gyro.setPartyMode(0);
+  /** Creates a new gyro, with period 0.02 on yaw updates, and 0.1 on status updates. */
+  public GyroIORedux() {
+    gyro = new Canandgyro(50);
+    gyro.clearStickyFaults();
+    gyro.setPartyMode(0);
 
-        Canandgyro.Settings settings = new Canandgyro.Settings();
-        settings.setAngularPositionFramePeriod(0.02); //20ms update
-        settings.setYawFramePeriod(0.02);
-        settings.setStatusFramePeriod(0.1);
+    Canandgyro.Settings settings = new Canandgyro.Settings();
+    settings.setAngularPositionFramePeriod(0.02); // 20ms update
+    settings.setYawFramePeriod(0.02);
+    settings.setStatusFramePeriod(0.1);
 
-        gyro.setSettings(settings,0.050);
-    }
+    gyro.setSettings(settings, 0.050);
+  }
 
-    @Override
-    public void updateInputs(GyroIOInputs inputs) {
-        inputs.connected = gyro.isConnected();
-        inputs.yawPositionRad = -Math.toRadians(gyro.getYaw());
-        inputs.yawVelocityRadPerSec = -Math.toRadians(gyro.getAngularVelocityYaw());
-    }
+  @Override
+  public void updateInputs(GyroIOInputs inputs) {
+    inputs.connected = gyro.isConnected();
+    inputs.yawPositionRad = -Math.toRadians(gyro.getYaw());
+    inputs.yawVelocityRadPerSec = -Math.toRadians(gyro.getAngularVelocityYaw());
+  }
 
-    @Override
-    public void resetIMU() {
-        System.out.println("resetting IMU");
-        gyro.setYaw(0);
-    }
+  @Override
+  public void resetIMU() {
+    System.out.println("resetting IMU");
+    gyro.setYaw(0);
+  }
 }

src/main/java/frc/robot/subsystems/indexer/IndexerIOReal.java

@@ -15,7 +15,7 @@ public IndexerIOReal() {
     var config = new TalonFXConfiguration();
     config.CurrentLimits.StatorCurrentLimit = Constants.IndexerConstants.INDEX_CURRENT_LIMIT;
     config.CurrentLimits.StatorCurrentLimitEnable = true;
-    config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; // TODO: check
+    config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
     config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
     indexerMotor.getConfigurator().apply(config);
   }