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Clean up Java style (#5990)

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Also make equivalent changes in C++ where applicable.

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
This commit is contained in:
Tyler Veness
2023-12-03 16:21:32 -08:00
committed by GitHub
parent 66172ab288
commit 2bb1409b82
113 changed files with 426 additions and 617 deletions
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28
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
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@@ -92,26 +92,22 @@ Pose2d DifferentialDrivetrainSim::GetPose() const {
}
units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
auto loadIleft =
m_motor.Current(
units::radians_per_second_t{m_x(State::kLeftVelocity) *
m_currentGearing / m_wheelRadius.value()},
units::volt_t{m_u(0)}) *
wpi::sgn(m_u(0));
return loadIleft;
return m_motor.Current(units::radians_per_second_t{m_x(State::kLeftVelocity) *
m_currentGearing /
m_wheelRadius.value()},
units::volt_t{m_u(0)}) *
wpi::sgn(m_u(0));
}
units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
auto loadIRight =
m_motor.Current(
units::radians_per_second_t{m_x(State::kRightVelocity) *
m_currentGearing / m_wheelRadius.value()},
units::volt_t{m_u(1)}) *
wpi::sgn(m_u(1));
return loadIRight;
return m_motor.Current(
units::radians_per_second_t{m_x(State::kRightVelocity) *
m_currentGearing /
m_wheelRadius.value()},
units::volt_t{m_u(1)}) *
wpi::sgn(m_u(1));
}
units::ampere_t DifferentialDrivetrainSim::GetCurrentDraw() const {
return GetLeftCurrentDraw() + GetRightCurrentDraw();
}