Add braces to C++ single-line loops and conditionals (NFC) (#2973)

This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp

@@ -17,7 +17,9 @@ void Robot::RobotInit() {}
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
  */
-void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+void Robot::RobotPeriodic() {
+  frc2::CommandScheduler::GetInstance().Run();
+}
 
 /**
  * This function is called once each time the robot enters Disabled mode. You
@@ -64,5 +66,7 @@ void Robot::TeleopPeriodic() {}
 void Robot::TestPeriodic() {}
 
 #ifndef RUNNING_FRC_TESTS
-int main() { return frc::StartRobot<Robot>(); }
+int main() {
+  return frc::StartRobot<Robot>();
+}
 #endif

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp

@@ -12,10 +12,14 @@ CloseClaw::CloseClaw(Claw* claw) : m_claw(claw) {
 }
 
 // Called just before this Command runs the first time
-void CloseClaw::Initialize() { m_claw->Close(); }
+void CloseClaw::Initialize() {
+  m_claw->Close();
+}
 
 // Make this return true when this Command no longer needs to run execute()
-bool CloseClaw::IsFinished() { return m_claw->IsGripping(); }
+bool CloseClaw::IsFinished() {
+  return m_claw->IsGripping();
+}
 
 // Called once after isFinished returns true
 void CloseClaw::End(bool) {

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp

@@ -25,4 +25,6 @@ void DriveStraight::Initialize() {
   frc2::PIDCommand::Initialize();
 }
 
-bool DriveStraight::IsFinished() { return m_controller.AtSetpoint(); }
+bool DriveStraight::IsFinished() {
+  return m_controller.AtSetpoint();
+}

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp

@@ -19,4 +19,6 @@ void OpenClaw::Initialize() {
 }
 
 // Called once after isFinished returns true
-void OpenClaw::End(bool) { m_claw->Stop(); }
+void OpenClaw::End(bool) {
+  m_claw->Stop();
+}

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp

@@ -25,4 +25,6 @@ void SetDistanceToBox::Initialize() {
   frc2::PIDCommand::Initialize();
 }
 
-bool SetDistanceToBox::IsFinished() { return m_controller.AtSetpoint(); }
+bool SetDistanceToBox::IsFinished() {
+  return m_controller.AtSetpoint();
+}

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp

@@ -14,10 +14,16 @@ TankDrive::TankDrive(std::function<double()> left,
 }
 
 // Called repeatedly when this Command is scheduled to run
-void TankDrive::Execute() { m_drivetrain->Drive(m_left(), m_right()); }
+void TankDrive::Execute() {
+  m_drivetrain->Drive(m_left(), m_right());
+}
 
 // Make this return true when this Command no longer needs to run execute()
-bool TankDrive::IsFinished() { return false; }
+bool TankDrive::IsFinished() {
+  return false;
+}
 
 // Called once after isFinished returns true
-void TankDrive::End(bool) { m_drivetrain->Drive(0, 0); }
+void TankDrive::End(bool) {
+  m_drivetrain->Drive(0, 0);
+}

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Claw.cpp

@@ -12,16 +12,26 @@ Claw::Claw() {
   AddChild("Motor", &m_motor);
 }
 
-void Claw::Open() { m_motor.Set(-1); }
+void Claw::Open() {
+  m_motor.Set(-1);
+}
 
-void Claw::Close() { m_motor.Set(1); }
+void Claw::Close() {
+  m_motor.Set(1);
+}
 
-void Claw::Stop() { m_motor.Set(0); }
+void Claw::Stop() {
+  m_motor.Set(0);
+}
 
-bool Claw::IsGripping() { return m_contact.Get(); }
+bool Claw::IsGripping() {
+  return m_contact.Get();
+}
 
 void Claw::Log() {
   frc::SmartDashboard::PutBoolean("Claw switch", IsGripping());
 }
 
-void Claw::Periodic() { Log(); }
+void Claw::Periodic() {
+  Log();
+}

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp

@@ -50,7 +50,9 @@ void DriveTrain::Drive(double left, double right) {
   m_robotDrive.TankDrive(left, right);
 }
 
-double DriveTrain::GetHeading() { return m_gyro.GetAngle(); }
+double DriveTrain::GetHeading() {
+  return m_gyro.GetAngle();
+}
 
 void DriveTrain::Reset() {
   m_gyro.Reset();
@@ -67,4 +69,6 @@ double DriveTrain::GetDistanceToObstacle() {
   return m_rangefinder.GetAverageVoltage();
 }
 
-void DriveTrain::Periodic() { Log(); }
+void DriveTrain::Periodic() {
+  Log();
+}

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp

@@ -21,12 +21,18 @@ Elevator::Elevator()
   AddChild("Pot", &m_pot);
 }
 
-void Elevator::Log() { frc::SmartDashboard::PutData("Wrist Pot", &m_pot); }
+void Elevator::Log() {
+  frc::SmartDashboard::PutData("Wrist Pot", &m_pot);
+}
 
-double Elevator::GetMeasurement() { return m_pot.Get(); }
+double Elevator::GetMeasurement() {
+  return m_pot.Get();
+}
 
 void Elevator::UseOutput(double output, double setpoint) {
   m_motor.Set(output);
 }
 
-void Elevator::Periodic() { Log(); }
+void Elevator::Periodic() {
+  Log();
+}

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp

@@ -23,8 +23,14 @@ void Wrist::Log() {
   frc::SmartDashboard::PutNumber("Wrist Angle", GetMeasurement());
 }
 
-double Wrist::GetMeasurement() { return m_pot.Get(); }
+double Wrist::GetMeasurement() {
+  return m_pot.Get();
+}
 
-void Wrist::UseOutput(double output, double setpoint) { m_motor.Set(output); }
+void Wrist::UseOutput(double output, double setpoint) {
+  m_motor.Set(output);
+}
 
-void Wrist::Periodic() { Log(); }
+void Wrist::Periodic() {
+  Log();
+}