spotless

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id 'com.diffplug.spotless' version '6.20.0'
 }
 
 java {
@@ -77,7 +78,11 @@ wpi.sim.addDriverstation()
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
 jar {
-    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from {
+        configurations.runtimeClasspath.collect {
+            it.isDirectory() ? it : zipTree(it)
+        }
+    }
     from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
@@ -92,3 +97,37 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+
+spotless {
+    java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        toggleOffOn()
+        googleJavaFormat()
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    groovyGradle {
+        target fileTree('.') {
+            include '**/*.gradle'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    format 'misc', {
+        target fileTree('.') {
+            include '**/*.md', '**/.gitignore'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+}

src/main/java/frc/robot/Constants.java

@@ -53,25 +53,24 @@ public static class Physical {
 
     public static final double SWERVE_DRIVE_GEAR_RATIO = 6.75;
     public static final double SWERVE_DRIVE_WHEEL_RADIUS = 0.1;
-    public static final double SWERVE_DRIVE_WHEEL_CIRCUMFERENCE = 2 * Math.PI * SWERVE_DRIVE_WHEEL_RADIUS;
-
+    public static final double SWERVE_DRIVE_WHEEL_CIRCUMFERENCE =
+        2 * Math.PI * SWERVE_DRIVE_WHEEL_RADIUS;
 
     public static final double TALON_TICKS_PER_REVOLUTION = 2048;
 
-    public static final SwerveDriveKinematics SWERVE_KINEMATICS = new SwerveDriveKinematics(
-      new Translation2d(0.292, 0.292),
-      new Translation2d(0.292, -0.292),
-      new Translation2d(-0.292, -0.292),
-      new Translation2d(-0.292, 0.292)
-    );
+    public static final SwerveDriveKinematics SWERVE_KINEMATICS =
+        new SwerveDriveKinematics(
+            new Translation2d(0.292, 0.292),
+            new Translation2d(0.292, -0.292),
+            new Translation2d(-0.292, -0.292),
+            new Translation2d(-0.292, 0.292));
   }
 
   public static class Offsets {
     public static final double ENCODER_FRONT_LEFT = -93;
     public static final double ENCODER_FRONT_RIGHT = -58;
     public static final double ENCODER_BACK_RIGHT = 10;
     public static final double ENCODER_BACK_LEFT = 43;
-
   }
 
   public static class Ports {

src/main/java/frc/robot/Robot.java

@@ -3,8 +3,6 @@
 
 package frc.robot;
 
-import com.ctre.phoenix6.Orchestra;
-import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -20,10 +18,8 @@ public class Robot extends TimedRobot {
 
   private RobotContainer m_robotContainer;
 
-    /* Talon FXs to play music through.  
-    More complex music MIDIs will contain several tracks, requiring multiple instruments.  */
-
-
+  /* Talon FXs to play music through.
+  More complex music MIDIs will contain several tracks, requiring multiple instruments.  */
 
   /**
    * This function is run when the robot is first started up and should be used for any

src/main/java/frc/robot/RobotContainer.java

@@ -5,24 +5,21 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
-
 import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandPS4Controller;
 import frc.robot.commands.shooter.Shooter;
 import frc.robot.commands.swerve.BrakeSwerve;
-import frc.robot.commands.swerve.ResetGyro;
 import frc.robot.commands.swerve.ResetPose;
 import frc.robot.commands.swerve.TeleopDrive;
 import frc.robot.commands.swerve.ToggleSwerveOrient;
+import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.subsystems.SwerveDriveSubsystem;
 import frc.robot.subsystems.VisionSubsystem;
-import frc.robot.subsystems.ShooterSubsystem;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -36,7 +33,8 @@ public class RobotContainer {
   private final SwerveDriveSubsystem _swerveDrive = new SwerveDriveSubsystem(_visionSubsystem);
   private final ShooterSubsystem _shooterSubsystem = new ShooterSubsystem();
   // controllers (for driver and operator)
-  private final CommandPS4Controller _driveController = new CommandPS4Controller(Constants.Ports.DRIVER_CONTROLLER);
+  private final CommandPS4Controller _driveController =
+      new CommandPS4Controller(Constants.Ports.DRIVER_CONTROLLER);
 
   // slew rate limiters applied to joysticks
   private final SlewRateLimiter _driveFilterLeftX = new SlewRateLimiter(4);
@@ -55,12 +53,12 @@ public RobotContainer() {
     NamedCommands.registerCommand("waitCommand", new WaitCommand(3));
     NamedCommands.registerCommand("brakeSwerve", brakeSwerve);
 
-    _swerveDrive.setDefaultCommand(new TeleopDrive(
-      _swerveDrive,
-      () -> -_driveFilterLeftY.calculate(_driveController.getLeftY()),
-      () -> -_driveFilterLeftX.calculate(_driveController.getLeftX()),
-      () -> -_driveFilterRightX.calculate(_driveController.getRightX())
-    ));
+    _swerveDrive.setDefaultCommand(
+        new TeleopDrive(
+            _swerveDrive,
+            () -> -_driveFilterLeftY.calculate(_driveController.getLeftY()),
+            () -> -_driveFilterLeftX.calculate(_driveController.getLeftX()),
+            () -> -_driveFilterRightX.calculate(_driveController.getRightX())));
 
     // configure trigger bindings
     configureBindings();
@@ -78,9 +76,12 @@ private void configureBindings() {
     _driveController.cross().whileTrue(new BrakeSwerve(_swerveDrive, 0));
   }
 
-  /** @return The Command to schedule for auton. */
+  /**
+   * @return The Command to schedule for auton.
+   */
   public Command getAutonCommand() {
-    _swerveDrive.fieldOriented = false; // make sure swerve is robot-relative for pathplanner to work
+    _swerveDrive.fieldOriented =
+        false; // make sure swerve is robot-relative for pathplanner to work
 
     return autonChooser.getSelected();
   }

src/main/java/frc/robot/commands/swerve/BrakeSwerve.java

@@ -48,9 +48,7 @@ public void execute() {
       new SwerveModuleState(0, Rotation2d.fromDegrees(-45))
     };
 
-    _swerveDrive.setStates(
-      states
-    );
+    _swerveDrive.setStates(states);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/swerve/ResetGyro.java

@@ -6,7 +6,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.SwerveDriveSubsystem;
 
-
 /**
  * @author Elvis Osmanov
  */

src/main/java/frc/robot/commands/swerve/TeleopDrive.java

@@ -3,13 +3,12 @@
 
 package frc.robot.commands.swerve;
 
-import java.util.function.DoubleSupplier;
-
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
 import frc.robot.subsystems.SwerveDriveSubsystem;
 import frc.robot.utils.UtilFuncs;
+import java.util.function.DoubleSupplier;
 
 /**
  * Drive the swerve chassis based on teleop joystick input
@@ -26,7 +25,11 @@ public class TeleopDrive extends Command {
   private final DoubleSupplier _rotationSpeed;
 
   /** Creates a new TeleopDrive. */
-  public TeleopDrive(SwerveDriveSubsystem swerveDrive, DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rotationSpeed) {
+  public TeleopDrive(
+      SwerveDriveSubsystem swerveDrive,
+      DoubleSupplier xSpeed,
+      DoubleSupplier ySpeed,
+      DoubleSupplier rotationSpeed) {
     _swerveDrive = swerveDrive;
 
     _xSpeed = xSpeed;
@@ -40,8 +43,7 @@ public TeleopDrive(SwerveDriveSubsystem swerveDrive, DoubleSupplier xSpeed, Doub
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -52,11 +54,11 @@ public void execute() {
     double rotationSpeed = UtilFuncs.ApplyDeadband(_rotationSpeed.getAsDouble(), 0.1);
 
     // drive the swerve chassis subsystem
-    _swerveDrive.driveChassis(new ChassisSpeeds(
-      xSpeed * Constants.Speeds.SWERVE_DRIVE_MAX_SPEED * Constants.Speeds.SWERVE_DRIVE_COEFF,
-      ySpeed * Constants.Speeds.SWERVE_DRIVE_MAX_SPEED * Constants.Speeds.SWERVE_DRIVE_COEFF,
-      rotationSpeed * Constants.Speeds.SWERVE_DRIVE_MAX_ANGULAR_SPEED
-    ));
+    _swerveDrive.driveChassis(
+        new ChassisSpeeds(
+            xSpeed * Constants.Speeds.SWERVE_DRIVE_MAX_SPEED * Constants.Speeds.SWERVE_DRIVE_COEFF,
+            ySpeed * Constants.Speeds.SWERVE_DRIVE_MAX_SPEED * Constants.Speeds.SWERVE_DRIVE_COEFF,
+            rotationSpeed * Constants.Speeds.SWERVE_DRIVE_MAX_ANGULAR_SPEED));
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -3,37 +3,36 @@
 
 package frc.robot.subsystems;
 
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkLowLevel.MotorType;
-
 /**
  * @author Elvis Osmanov
  * @author Peleh Liu
  * @author Cherine Soewingjo
  */
 public class ShooterSubsystem extends SubsystemBase {
-  private CANSparkMax _leftMotor = new CANSparkMax(Constants.CAN.SHOOTER_LEFT, MotorType.kBrushless);
-  private CANSparkMax _rightMotor = new CANSparkMax(Constants.CAN.SHOOTER_RIGHT, MotorType.kBrushless);
+  private CANSparkMax _leftMotor =
+      new CANSparkMax(Constants.CAN.SHOOTER_LEFT, MotorType.kBrushless);
+  private CANSparkMax _rightMotor =
+      new CANSparkMax(Constants.CAN.SHOOTER_RIGHT, MotorType.kBrushless);
 
   /** Creates a new ShooterSubsystem. */
-  public ShooterSubsystem() {
-  }
-
+  public ShooterSubsystem() {}
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
 
-  public void spinMotor(){
+  public void spinMotor() {
     _leftMotor.set(-1.0);
     _rightMotor.set(1.0);
   }
 
-  public void stopMotors(){
+  public void stopMotors() {
     _leftMotor.set(0);
     _rightMotor.set(0);
   }