Upgrading to 2024.7.0

swervelib/math/IMULinearMovingAverageFilter.java

@@ -3,10 +3,10 @@ package swervelib.math;
 import edu.wpi.first.util.DoubleCircularBuffer;
 
 /**
- * A linear filter that does not calculate() each time a value is added to
- * the DoubleCircularBuffer.
+ * A linear filter that does not calculate() each time a value is added to the DoubleCircularBuffer.
  */
-public class IMULinearMovingAverageFilter {
+public class IMULinearMovingAverageFilter
+{
 
   /**
    * Circular buffer storing the current IMU readings
@@ -16,39 +16,42 @@ public class IMULinearMovingAverageFilter {
    * Gain on each reading.
    */
   private final double m_inputGain;
-    
- /**
-  * Construct a linear moving average fitler
-  * @param bufferLength The number of values to average across
-  */
+
+  /**
+   * Construct a linear moving average fitler
+   *
+   * @param bufferLength The number of values to average across
+   */
   public IMULinearMovingAverageFilter(int bufferLength)
   {
     m_inputs = new DoubleCircularBuffer(bufferLength);
     m_inputGain = 1.0 / bufferLength;
   }
 
- /**
-  * Add a value to the DoubleCircularBuffer
-  * @param input Value to add
-  */
+  /**
+   * Add a value to the DoubleCircularBuffer
+   *
+   * @param input Value to add
+   */
   public void addValue(double input)
   {
     m_inputs.addFirst(input);
   }
 
- /**
-  * Calculate the average of the samples in the buffer
-  * @return The average of the values in the buffer
-  */
+  /**
+   * Calculate the average of the samples in the buffer
+   *
+   * @return The average of the values in the buffer
+   */
   public double calculate()
   {
     double returnVal = 0.0;
 
-      for(int i = 0; i < m_inputs.size(); i++)
-      {
-        returnVal += m_inputs.get(i) * m_inputGain;
-      }
-        
-      return returnVal;
+    for (int i = 0; i < m_inputs.size(); i++)
+    {
+      returnVal += m_inputs.get(i) * m_inputGain;
+    }
+
+    return returnVal;
   }
 }