Run wpiformat on merged repo (#1021)

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

@@ -15,16 +15,16 @@
  * Runs the motors with arcade steering.
  */
 class Robot : public frc::IterativeRobot {
-	frc::Spark m_leftMotor{0};
-	frc::Spark m_rightMotor{1};
-	frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
-	frc::Joystick m_stick{0};
+  frc::Spark m_leftMotor{0};
+  frc::Spark m_rightMotor{1};
+  frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
+  frc::Joystick m_stick{0};
 
-public:
-	void TeleopPeriodic() {
-		// drive with arcade style
-		m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
-	}
+ public:
+  void TeleopPeriodic() {
+    // Drive with arcade style
+    m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
+  }
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -14,55 +14,50 @@
 /**
  * This is a demo program showing the use of OpenCV to do vision processing. The
  * image is acquired from the Axis camera, then a rectangle is put on the image
- * and
- * sent to the dashboard. OpenCV has many methods for different types of
+ * and sent to the dashboard. OpenCV has many methods for different types of
  * processing.
  */
 class Robot : public frc::IterativeRobot {
-private:
-	static void VisionThread() {
-		// Get the Axis camera from CameraServer
-		cs::AxisCamera camera =
-				CameraServer::GetInstance()->AddAxisCamera(
-						"axis-camera.local");
-		// Set the resolution
-		camera.SetResolution(640, 480);
+ private:
+  static void VisionThread() {
+    // Get the Axis camera from CameraServer
+    cs::AxisCamera camera =
+        CameraServer::GetInstance()->AddAxisCamera("axis-camera.local");
+    // Set the resolution
+    camera.SetResolution(640, 480);
 
-		// Get a CvSink. This will capture Mats from the Camera
-		cs::CvSink cvSink = CameraServer::GetInstance()->GetVideo();
-		// Setup a CvSource. This will send images back to the Dashboard
-		cs::CvSource outputStream =
-				CameraServer::GetInstance()->PutVideo(
-						"Rectangle", 640, 480);
+    // Get a CvSink. This will capture Mats from the Camera
+    cs::CvSink cvSink = CameraServer::GetInstance()->GetVideo();
+    // Setup a CvSource. This will send images back to the Dashboard
+    cs::CvSource outputStream =
+        CameraServer::GetInstance()->PutVideo("Rectangle", 640, 480);
 
-		// Mats are very memory expensive. Lets reuse this Mat.
-		cv::Mat mat;
+    // Mats are very memory expensive. Lets reuse this Mat.
+    cv::Mat mat;
 
-		while (true) {
-			// Tell the CvSink to grab a frame from the camera and
-			// put it
-			// in the source mat.  If there is an error notify the
-			// output.
-			if (cvSink.GrabFrame(mat) == 0) {
-				// Send the output the error.
-				outputStream.NotifyError(cvSink.GetError());
-				// skip the rest of the current iteration
-				continue;
-			}
-			// Put a rectangle on the image
-			rectangle(mat, cv::Point(100, 100), cv::Point(400, 400),
-					cv::Scalar(255, 255, 255), 5);
-			// Give the output stream a new image to display
-			outputStream.PutFrame(mat);
-		}
-	}
+    while (true) {
+      // Tell the CvSink to grab a frame from the camera and put it in the
+      // source mat. If there is an error notify the output.
+      if (cvSink.GrabFrame(mat) == 0) {
+        // Send the output the error.
+        outputStream.NotifyError(cvSink.GetError());
+        // skip the rest of the current iteration
+        continue;
+      }
+      // Put a rectangle on the image
+      rectangle(mat, cv::Point(100, 100), cv::Point(400, 400),
+                cv::Scalar(255, 255, 255), 5);
+      // Give the output stream a new image to display
+      outputStream.PutFrame(mat);
+    }
+  }
 
-	void RobotInit() override {
-		// We need to run our vision program in a separate Thread.
-		// If not, our robot program will not run
-		std::thread visionThread(VisionThread);
-		visionThread.detach();
-	}
+  void RobotInit() override {
+    // We need to run our vision program in a separate thread. If not, our robot
+    // program will not run.
+    std::thread visionThread(VisionThread);
+    visionThread.detach();
+  }
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -15,29 +15,26 @@
  * through the SmartDashboard.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	void TeleopPeriodic() override {
-		/* Get the current going through channel 7, in Amperes. The PDP
-		 * returns the current in increments of 0.125A. At low currents
-		 * the
-		 * current readings tend to be less accurate.
-		 */
-		frc::SmartDashboard::PutNumber(
-				"Current Channel 7", m_pdp.GetCurrent(7));
+ public:
+  void TeleopPeriodic() override {
+    /* Get the current going through channel 7, in Amperes. The PDP returns the
+     * current in increments of 0.125A. At low currents the current readings
+     * tend to be less accurate.
+     */
+    frc::SmartDashboard::PutNumber("Current Channel 7", m_pdp.GetCurrent(7));
 
-		/* Get the voltage going into the PDP, in Volts.
-		 * The PDP returns the voltage in increments of 0.05 Volts.
-		 */
-		frc::SmartDashboard::PutNumber("Voltage", m_pdp.GetVoltage());
+    /* Get the voltage going into the PDP, in Volts. The PDP returns the voltage
+     * in increments of 0.05 Volts.
+     */
+    frc::SmartDashboard::PutNumber("Voltage", m_pdp.GetVoltage());
 
-		// Retrieves the temperature of the PDP, in degrees Celsius.
-		frc::SmartDashboard::PutNumber(
-				"Temperature", m_pdp.GetTemperature());
-	}
+    // Retrieves the temperature of the PDP, in degrees Celsius.
+    frc::SmartDashboard::PutNumber("Temperature", m_pdp.GetTemperature());
+  }
 
-private:
-	// Object for dealing with the Power Distribution Panel (PDP).
-	frc::PowerDistributionPanel m_pdp;
+ private:
+  // Object for dealing with the Power Distribution Panel (PDP).
+  frc::PowerDistributionPanel m_pdp;
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -11,84 +11,73 @@
 
 /**
  * Sample program displaying the value of a quadrature encoder on the
- *   SmartDashboard.
+ * SmartDashboard.
+ *
  * Quadrature Encoders are digital sensors which can detect the amount the
- *   encoder has rotated since starting as well as the direction in which the
- *   encoder shaft is rotating. However, encoders can not tell you the absolute
- *   position of the encoder shaft (ie, it considers where it starts to be the
- *   zero position, no matter where it starts), and so can only tell you how
- *   much the encoder has rotated since starting.
- * Depending on the precision of an encoder, it will have fewer or greater
- *   ticks per revolution; the number of ticks per revolution will affect the
- *   conversion between ticks and distance, as specified by DistancePerPulse.
+ * encoder has rotated since starting as well as the direction in which the
+ * encoder shaft is rotating. However, encoders can not tell you the absolute
+ * position of the encoder shaft (ie, it considers where it starts to be the
+ * zero position, no matter where it starts), and so can only tell you how much
+ * the encoder has rotated since starting.
+ *
+ * Depending on the precision of an encoder, it will have fewer or greater ticks
+ * per revolution; the number of ticks per revolution will affect the conversion
+ * between ticks and distance, as specified by DistancePerPulse.
+ *
  * One of the most common uses of encoders is in the drivetrain, so that the
- *   distance that the robot drives can be precisely controlled during the
- *   autonomous mode.
+ * distance that the robot drives can be precisely controlled during the
+ * autonomous mode.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	Robot() {
-		/* Defines the number of samples to average when determining the
-		 * rate.
-		 * On a quadrature encoder, values range from 1-255; larger
-		 * values
-		 *   result in smoother but potentially less accurate rates than
-		 * lower
-		 *   values.
-		 */
-		m_encoder.SetSamplesToAverage(5);
+ public:
+  Robot() {
+    /* Defines the number of samples to average when determining the rate.
+     * On a quadrature encoder, values range from 1-255; larger values result in
+     * smoother but potentially less accurate rates than lower values.
+     */
+    m_encoder.SetSamplesToAverage(5);
 
-		/* Defines how far the mechanism attached to the encoder moves
-		 * per pulse.
-		 * In this case, we assume that a 360 count encoder is directly
-		 * attached
-		 * to a 3 inch diameter (1.5inch radius) wheel, and that we want
-		 * to
-		 * measure distance in inches.
-		 */
-		m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+    /* Defines how far the mechanism attached to the encoder moves per pulse. In
+     * this case, we assume that a 360 count encoder is directly attached to a 3
+     * inch diameter (1.5inch radius) wheel, and that we want to measure
+     * distance in inches.
+     */
+    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
 
-		/* Defines the lowest rate at which the encoder will not be
-		 * considered
-		 *   stopped, for the purposes of the GetStopped() method.
-		 * Units are in distance / second, where distance refers to the
-		 * units
-		 *   of distance that you are using, in this case inches.
-		 */
-		m_encoder.SetMinRate(1.0);
-	}
+    /* Defines the lowest rate at which the encoder will not be considered
+     * stopped, for the purposes of the GetStopped() method. Units are in
+     * distance / second, where distance refers to the units of distance that
+     * you are using, in this case inches.
+     */
+    m_encoder.SetMinRate(1.0);
+  }
 
-	void TeleopPeriodic() override {
-		// Retrieve the net displacement of the Encoder since the last
-		// Reset.
-		frc::SmartDashboard::PutNumber(
-				"Encoder Distance", m_encoder.GetDistance());
+  void TeleopPeriodic() override {
+    // Retrieve the net displacement of the Encoder since the last Reset.
+    frc::SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());
 
-		// Retrieve the current rate of the encoder.
-		frc::SmartDashboard::PutNumber(
-				"Encoder Rate", m_encoder.GetRate());
-	}
+    // Retrieve the current rate of the encoder.
+    frc::SmartDashboard::PutNumber("Encoder Rate", m_encoder.GetRate());
+  }
 
-private:
-	/**
-	 * The Encoder object is constructed with 4 parameters, the last two
-	 * being
-	 *   optional.
-	 * The first two parameters (1, 2 in this case) refer to the ports on
-	 * the
-	 *   roboRIO which the encoder uses. Because a quadrature encoder has
-	 *   two signal wires, the signal from two DIO ports on the roboRIO are
-	 * used.
-	 * The third (optional) parameter is a boolean which defaults to false.
-	 *   If you set this parameter to true, the direction of the encoder
-	 * will
-	 *   be reversed, in case it makes more sense mechanically.
-	 * The final (optional) parameter specifies encoding rate (k1X, k2X, or
-	 * k4X)
-	 *   and defaults to k4X. Faster (k4X) encoding gives greater positional
-	 *   precision but more noise in the rate.
-	 */
-	frc::Encoder m_encoder{1, 2, false, Encoder::k4X};
+ private:
+  /**
+   * The Encoder object is constructed with 4 parameters, the last two being
+   * optional.
+   *
+   * The first two parameters (1, 2 in this case) refer to the ports on the
+   * roboRIO which the encoder uses. Because a quadrature encoder has two signal
+   * wires, the signal from two DIO ports on the roboRIO are used.
+   *
+   * The third (optional) parameter is a boolean which defaults to false. If you
+   * set this parameter to true, the direction of the encoder will  be reversed,
+   * in case it makes more sense mechanically.
+   *
+   * The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X)
+   * and defaults to k4X. Faster (k4X) encoding gives greater positional
+   * precision but more noise in the rate.
+   */
+  frc::Encoder m_encoder{1, 2, false, Encoder::k4X};
 };
 
 START_ROBOT_CLASS(Robot)

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/Autonomous.cpp

@@ -15,17 +15,16 @@
 #include "SetDistanceToBox.h"
 #include "SetWristSetpoint.h"
 
-Autonomous::Autonomous()
-    : frc::CommandGroup("Autonomous") {
-	AddSequential(new PrepareToPickup());
-	AddSequential(new Pickup());
-	AddSequential(new SetDistanceToBox(0.10));
-	// AddSequential(new DriveStraight(4));  // Use Encoders if ultrasonic
-	// is broken
-	AddSequential(new Place());
-	AddSequential(new SetDistanceToBox(0.60));
-	// AddSequential(new DriveStraight(-2));  // Use Encoders if ultrasonic
-	// is broken
-	AddParallel(new SetWristSetpoint(-45));
-	AddSequential(new CloseClaw());
+Autonomous::Autonomous() : frc::CommandGroup("Autonomous") {
+  AddSequential(new PrepareToPickup());
+  AddSequential(new Pickup());
+  AddSequential(new SetDistanceToBox(0.10));
+  // AddSequential(new DriveStraight(4));  // Use Encoders if ultrasonic
+  // is broken
+  AddSequential(new Place());
+  AddSequential(new SetDistanceToBox(0.60));
+  // AddSequential(new DriveStraight(-2));  // Use Encoders if ultrasonic
+  // is broken
+  AddParallel(new SetWristSetpoint(-45));
+  AddSequential(new CloseClaw());
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/Autonomous.h

@@ -13,6 +13,6 @@
  * The main autonomous command to pickup and deliver the soda to the box.
  */
 class Autonomous : public frc::CommandGroup {
-public:
-	Autonomous();
+ public:
+  Autonomous();
 };

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

@@ -9,20 +9,13 @@
 
 #include "../Robot.h"
 
-CloseClaw::CloseClaw()
-    : frc::Command("CloseClaw") {
-	Requires(&Robot::claw);
-}
+CloseClaw::CloseClaw() : frc::Command("CloseClaw") { Requires(&Robot::claw); }
 
 // Called just before this Command runs the first time
-void CloseClaw::Initialize() {
-	Robot::claw.Close();
-}
+void CloseClaw::Initialize() { Robot::claw.Close(); }
 
 // Make this return true when this Command no longer needs to run execute()
-bool CloseClaw::IsFinished() {
-	return Robot::claw.IsGripping();
-}
+bool CloseClaw::IsFinished() { return Robot::claw.IsGripping(); }
 
 // Called once after isFinished returns true
 void CloseClaw::End() {
@@ -30,6 +23,6 @@ void CloseClaw::End() {
 // fall out
 // + there is no need to worry about stalling the motor or crushing the can.
 #ifndef SIMULATION
-	Robot::claw.Stop();
+  Robot::claw.Stop();
 #endif
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/CloseClaw.h

@@ -14,9 +14,9 @@
  * motors is BAD!
  */
 class CloseClaw : public frc::Command {
-public:
-	CloseClaw();
-	void Initialize() override;
-	bool IsFinished() override;
-	void End() override;
+ public:
+  CloseClaw();
+  void Initialize() override;
+  bool IsFinished() override;
+  void End() override;
 };

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

@@ -10,35 +10,33 @@
 #include "../Robot.h"
 
 DriveStraight::DriveStraight(double distance) {
-	Requires(&Robot::drivetrain);
-	m_pid.SetAbsoluteTolerance(0.01);
-	m_pid.SetSetpoint(distance);
+  Requires(&Robot::drivetrain);
+  m_pid.SetAbsoluteTolerance(0.01);
+  m_pid.SetSetpoint(distance);
 }
 
 // Called just before this Command runs the first time
 void DriveStraight::Initialize() {
-	// Get everything in a safe starting state.
-	Robot::drivetrain.Reset();
-	m_pid.Reset();
-	m_pid.Enable();
+  // Get everything in a safe starting state.
+  Robot::drivetrain.Reset();
+  m_pid.Reset();
+  m_pid.Enable();
 }
 
 // Make this return true when this Command no longer needs to run execute()
-bool DriveStraight::IsFinished() {
-	return m_pid.OnTarget();
-}
+bool DriveStraight::IsFinished() { return m_pid.OnTarget(); }
 
 // Called once after isFinished returns true
 void DriveStraight::End() {
-	// Stop PID and the wheels
-	m_pid.Disable();
-	Robot::drivetrain.Drive(0, 0);
+  // Stop PID and the wheels
+  m_pid.Disable();
+  Robot::drivetrain.Drive(0, 0);
 }
 
 double DriveStraight::DriveStraightPIDSource::PIDGet() {
-	return Robot::drivetrain.GetDistance();
+  return Robot::drivetrain.GetDistance();
 }
 
 void DriveStraight::DriveStraightPIDOutput::PIDWrite(double d) {
-	Robot::drivetrain.Drive(d, d);
+  Robot::drivetrain.Drive(d, d);
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/DriveStraight.h

@@ -19,26 +19,26 @@
  * values of the left and right encoders.
  */
 class DriveStraight : public frc::Command {
-public:
-	explicit DriveStraight(double distance);
-	void Initialize() override;
-	bool IsFinished() override;
-	void End() override;
+ public:
+  explicit DriveStraight(double distance);
+  void Initialize() override;
+  bool IsFinished() override;
+  void End() override;
 
-	class DriveStraightPIDSource : public frc::PIDSource {
-	public:
-		virtual ~DriveStraightPIDSource() = default;
-		double PIDGet() override;
-	};
+  class DriveStraightPIDSource : public frc::PIDSource {
+   public:
+    virtual ~DriveStraightPIDSource() = default;
+    double PIDGet() override;
+  };
 
-	class DriveStraightPIDOutput : public frc::PIDOutput {
-	public:
-		virtual ~DriveStraightPIDOutput() = default;
-		void PIDWrite(double d) override;
-	};
+  class DriveStraightPIDOutput : public frc::PIDOutput {
+   public:
+    virtual ~DriveStraightPIDOutput() = default;
+    void PIDWrite(double d) override;
+  };
 
-private:
-	DriveStraightPIDSource m_source;
-	DriveStraightPIDOutput m_output;
-	frc::PIDController m_pid{4, 0, 0, &m_source, &m_output};
+ private:
+  DriveStraightPIDSource m_source;
+  DriveStraightPIDOutput m_output;
+  frc::PIDController m_pid{4, 0, 0, &m_source, &m_output};
 };

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

@@ -9,23 +9,16 @@
 
 #include "../Robot.h"
 
-OpenClaw::OpenClaw()
-    : frc::Command("OpenClaw") {
-	Requires(&Robot::claw);
-	SetTimeout(1);
+OpenClaw::OpenClaw() : frc::Command("OpenClaw") {
+  Requires(&Robot::claw);
+  SetTimeout(1);
 }
 
 // Called just before this Command runs the first time
-void OpenClaw::Initialize() {
-	Robot::claw.Open();
-}
+void OpenClaw::Initialize() { Robot::claw.Open(); }
 
 // Make this return true when this Command no longer needs to run execute()
-bool OpenClaw::IsFinished() {
-	return IsTimedOut();
-}
+bool OpenClaw::IsFinished() { return IsTimedOut(); }
 
 // Called once after isFinished returns true
-void OpenClaw::End() {
-	Robot::claw.Stop();
-}
+void OpenClaw::End() { Robot::claw.Stop(); }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/OpenClaw.h

@@ -14,9 +14,9 @@
  * motors is BAD!
  */
 class OpenClaw : public frc::Command {
-public:
-	OpenClaw();
-	void Initialize() override;
-	bool IsFinished() override;
-	void End() override;
+ public:
+  OpenClaw();
+  void Initialize() override;
+  bool IsFinished() override;
+  void End() override;
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/Pickup.cpp

@@ -11,9 +11,8 @@
 #include "SetElevatorSetpoint.h"
 #include "SetWristSetpoint.h"
 
-Pickup::Pickup()
-    : frc::CommandGroup("Pickup") {
-	AddSequential(new CloseClaw());
-	AddParallel(new SetWristSetpoint(-45));
-	AddSequential(new SetElevatorSetpoint(0.25));
+Pickup::Pickup() : frc::CommandGroup("Pickup") {
+  AddSequential(new CloseClaw());
+  AddParallel(new SetWristSetpoint(-45));
+  AddSequential(new SetElevatorSetpoint(0.25));
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/Pickup.h

@@ -14,6 +14,6 @@
  * get it in a safe state to drive around.
  */
 class Pickup : public frc::CommandGroup {
-public:
-	Pickup();
+ public:
+  Pickup();
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/Place.cpp

@@ -11,9 +11,8 @@
 #include "SetElevatorSetpoint.h"
 #include "SetWristSetpoint.h"
 
-Place::Place()
-    : frc::CommandGroup("Place") {
-	AddSequential(new SetElevatorSetpoint(0.25));
-	AddSequential(new SetWristSetpoint(0));
-	AddSequential(new OpenClaw());
+Place::Place() : frc::CommandGroup("Place") {
+  AddSequential(new SetElevatorSetpoint(0.25));
+  AddSequential(new SetWristSetpoint(0));
+  AddSequential(new OpenClaw());
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/Place.h

@@ -13,6 +13,6 @@
  * Place a held soda can onto the platform.
  */
 class Place : public frc::CommandGroup {
-public:
-	Place();
+ public:
+  Place();
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/PrepareToPickup.cpp

@@ -11,9 +11,8 @@
 #include "SetElevatorSetpoint.h"
 #include "SetWristSetpoint.h"
 
-PrepareToPickup::PrepareToPickup()
-    : frc::CommandGroup("PrepareToPickup") {
-	AddParallel(new OpenClaw());
-	AddParallel(new SetWristSetpoint(0));
-	AddSequential(new SetElevatorSetpoint(0));
+PrepareToPickup::PrepareToPickup() : frc::CommandGroup("PrepareToPickup") {
+  AddParallel(new OpenClaw());
+  AddParallel(new SetWristSetpoint(0));
+  AddSequential(new SetElevatorSetpoint(0));
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/PrepareToPickup.h

@@ -13,6 +13,6 @@
  * Make sure the robot is in a state to pickup soda cans.
  */
 class PrepareToPickup : public frc::CommandGroup {
-public:
-	PrepareToPickup();
+ public:
+  PrepareToPickup();
 };

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

@@ -12,35 +12,33 @@
 #include "../Robot.h"
 
 SetDistanceToBox::SetDistanceToBox(double distance) {
-	Requires(&Robot::drivetrain);
-	m_pid.SetAbsoluteTolerance(0.01);
-	m_pid.SetSetpoint(distance);
+  Requires(&Robot::drivetrain);
+  m_pid.SetAbsoluteTolerance(0.01);
+  m_pid.SetSetpoint(distance);
 }
 
 // Called just before this Command runs the first time
 void SetDistanceToBox::Initialize() {
-	// Get everything in a safe starting state.
-	Robot::drivetrain.Reset();
-	m_pid.Reset();
-	m_pid.Enable();
+  // Get everything in a safe starting state.
+  Robot::drivetrain.Reset();
+  m_pid.Reset();
+  m_pid.Enable();
 }
 
 // Make this return true when this Command no longer needs to run execute()
-bool SetDistanceToBox::IsFinished() {
-	return m_pid.OnTarget();
-}
+bool SetDistanceToBox::IsFinished() { return m_pid.OnTarget(); }
 
 // Called once after isFinished returns true
 void SetDistanceToBox::End() {
-	// Stop PID and the wheels
-	m_pid.Disable();
-	Robot::drivetrain.Drive(0, 0);
+  // Stop PID and the wheels
+  m_pid.Disable();
+  Robot::drivetrain.Drive(0, 0);
 }
 
 double SetDistanceToBox::SetDistanceToBoxPIDSource::PIDGet() {
-	return Robot::drivetrain.GetDistanceToObstacle();
+  return Robot::drivetrain.GetDistanceToObstacle();
 }
 
 void SetDistanceToBox::SetDistanceToBoxPIDOutput::PIDWrite(double d) {
-	Robot::drivetrain.Drive(d, d);
+  Robot::drivetrain.Drive(d, d);
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetDistanceToBox.h

@@ -19,26 +19,26 @@
  * encoders.
  */
 class SetDistanceToBox : public frc::Command {
-public:
-	explicit SetDistanceToBox(double distance);
-	void Initialize() override;
-	bool IsFinished() override;
-	void End() override;
+ public:
+  explicit SetDistanceToBox(double distance);
+  void Initialize() override;
+  bool IsFinished() override;
+  void End() override;
 
-	class SetDistanceToBoxPIDSource : public frc::PIDSource {
-	public:
-		virtual ~SetDistanceToBoxPIDSource() = default;
-		double PIDGet() override;
-	};
+  class SetDistanceToBoxPIDSource : public frc::PIDSource {
+   public:
+    virtual ~SetDistanceToBoxPIDSource() = default;
+    double PIDGet() override;
+  };
 
-	class SetDistanceToBoxPIDOutput : public frc::PIDOutput {
-	public:
-		virtual ~SetDistanceToBoxPIDOutput() = default;
-		void PIDWrite(double d) override;
-	};
+  class SetDistanceToBoxPIDOutput : public frc::PIDOutput {
+   public:
+    virtual ~SetDistanceToBoxPIDOutput() = default;
+    void PIDWrite(double d) override;
+  };
 
-private:
-	SetDistanceToBoxPIDSource m_source;
-	SetDistanceToBoxPIDOutput m_output;
-	frc::PIDController m_pid{-2, 0, 0, &m_source, &m_output};
+ private:
+  SetDistanceToBoxPIDSource m_source;
+  SetDistanceToBoxPIDOutput m_output;
+  frc::PIDController m_pid{-2, 0, 0, &m_source, &m_output};
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetElevatorSetpoint.cpp

@@ -13,17 +13,15 @@
 
 SetElevatorSetpoint::SetElevatorSetpoint(double setpoint)
     : frc::Command("SetElevatorSetpoint") {
-	m_setpoint = setpoint;
-	Requires(&Robot::elevator);
+  m_setpoint = setpoint;
+  Requires(&Robot::elevator);
 }
 
 // Called just before this Command runs the first time
 void SetElevatorSetpoint::Initialize() {
-	Robot::elevator.SetSetpoint(m_setpoint);
-	Robot::elevator.Enable();
+  Robot::elevator.SetSetpoint(m_setpoint);
+  Robot::elevator.Enable();
 }
 
 // Make this return true when this Command no longer needs to run execute()
-bool SetElevatorSetpoint::IsFinished() {
-	return Robot::elevator.OnTarget();
-}
+bool SetElevatorSetpoint::IsFinished() { return Robot::elevator.OnTarget(); }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetElevatorSetpoint.h

@@ -17,11 +17,11 @@
  * commands using the elevator should make sure they disable PID!
  */
 class SetElevatorSetpoint : public frc::Command {
-public:
-	explicit SetElevatorSetpoint(double setpoint);
-	void Initialize() override;
-	bool IsFinished() override;
+ public:
+  explicit SetElevatorSetpoint(double setpoint);
+  void Initialize() override;
+  bool IsFinished() override;
 
-private:
-	double m_setpoint;
+ private:
+  double m_setpoint;
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetWristSetpoint.cpp

@@ -11,17 +11,15 @@
 
 SetWristSetpoint::SetWristSetpoint(double setpoint)
     : frc::Command("SetWristSetpoint") {
-	m_setpoint = setpoint;
-	Requires(&Robot::wrist);
+  m_setpoint = setpoint;
+  Requires(&Robot::wrist);
 }
 
 // Called just before this Command runs the first time
 void SetWristSetpoint::Initialize() {
-	Robot::wrist.SetSetpoint(m_setpoint);
-	Robot::wrist.Enable();
+  Robot::wrist.SetSetpoint(m_setpoint);
+  Robot::wrist.Enable();
 }
 
 // Make this return true when this Command no longer needs to run execute()
-bool SetWristSetpoint::IsFinished() {
-	return Robot::wrist.OnTarget();
-}
+bool SetWristSetpoint::IsFinished() { return Robot::wrist.OnTarget(); }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetWristSetpoint.h

@@ -15,11 +15,11 @@
  * Other commands using the wrist should make sure they disable PID!
  */
 class SetWristSetpoint : public frc::Command {
-public:
-	explicit SetWristSetpoint(double setpoint);
-	void Initialize() override;
-	bool IsFinished() override;
+ public:
+  explicit SetWristSetpoint(double setpoint);
+  void Initialize() override;
+  bool IsFinished() override;
 
-private:
-	double m_setpoint;
+ private:
+  double m_setpoint;
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/TankDriveWithJoystick.cpp

@@ -11,21 +11,17 @@
 
 TankDriveWithJoystick::TankDriveWithJoystick()
     : frc::Command("TankDriveWithJoystick") {
-	Requires(&Robot::drivetrain);
+  Requires(&Robot::drivetrain);
 }
 
 // Called repeatedly when this Command is scheduled to run
 void TankDriveWithJoystick::Execute() {
-	auto& joystick = Robot::oi.GetJoystick();
-	Robot::drivetrain.Drive(-joystick.GetY(), -joystick.GetRawAxis(4));
+  auto& joystick = Robot::oi.GetJoystick();
+  Robot::drivetrain.Drive(-joystick.GetY(), -joystick.GetRawAxis(4));
 }
 
 // Make this return true when this Command no longer needs to run execute()
-bool TankDriveWithJoystick::IsFinished() {
-	return false;
-}
+bool TankDriveWithJoystick::IsFinished() { return false; }
 
 // Called once after isFinished returns true
-void TankDriveWithJoystick::End() {
-	Robot::drivetrain.Drive(0, 0);
-}
+void TankDriveWithJoystick::End() { Robot::drivetrain.Drive(0, 0); }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/TankDriveWithJoystick.h

@@ -13,9 +13,9 @@
  * Have the robot drive tank style using the PS3 Joystick until interrupted.
  */
 class TankDriveWithJoystick : public frc::Command {
-public:
-	TankDriveWithJoystick();
-	void Execute() override;
-	bool IsFinished() override;
-	void End() override;
+ public:
+  TankDriveWithJoystick();
+  void Execute() override;
+  bool IsFinished() override;
+  void End() override;
 };

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

@@ -18,21 +18,19 @@
 #include "Commands/SetElevatorSetpoint.h"
 
 OI::OI() {
-	frc::SmartDashboard::PutData("Open Claw", new OpenClaw());
-	frc::SmartDashboard::PutData("Close Claw", new CloseClaw());
+  frc::SmartDashboard::PutData("Open Claw", new OpenClaw());
+  frc::SmartDashboard::PutData("Close Claw", new CloseClaw());
 
-	// Connect the buttons to commands
-	m_dUp.WhenPressed(new SetElevatorSetpoint(0.2));
-	m_dDown.WhenPressed(new SetElevatorSetpoint(-0.2));
-	m_dRight.WhenPressed(new CloseClaw());
-	m_dLeft.WhenPressed(new OpenClaw());
+  // Connect the buttons to commands
+  m_dUp.WhenPressed(new SetElevatorSetpoint(0.2));
+  m_dDown.WhenPressed(new SetElevatorSetpoint(-0.2));
+  m_dRight.WhenPressed(new CloseClaw());
+  m_dLeft.WhenPressed(new OpenClaw());
 
-	m_r1.WhenPressed(new PrepareToPickup());
-	m_r2.WhenPressed(new Pickup());
-	m_l1.WhenPressed(new Place());
-	m_l2.WhenPressed(new Autonomous());
+  m_r1.WhenPressed(new PrepareToPickup());
+  m_r2.WhenPressed(new Pickup());
+  m_l1.WhenPressed(new Place());
+  m_l2.WhenPressed(new Autonomous());
 }
 
-frc::Joystick& OI::GetJoystick() {
-	return m_joy;
-}
+frc::Joystick& OI::GetJoystick() { return m_joy; }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/OI.h

@@ -11,20 +11,20 @@
 #include <Joystick.h>
 
 class OI {
-public:
-	OI();
-	frc::Joystick& GetJoystick();
+ public:
+  OI();
+  frc::Joystick& GetJoystick();
 
-private:
-	frc::Joystick m_joy{0};
+ private:
+  frc::Joystick m_joy{0};
 
-	// Create some buttons
-	frc::JoystickButton m_dUp{&m_joy, 5};
-	frc::JoystickButton m_dRight{&m_joy, 6};
-	frc::JoystickButton m_dDown{&m_joy, 7};
-	frc::JoystickButton m_dLeft{&m_joy, 8};
-	frc::JoystickButton m_l2{&m_joy, 9};
-	frc::JoystickButton m_r2{&m_joy, 10};
-	frc::JoystickButton m_l1{&m_joy, 11};
-	frc::JoystickButton m_r1{&m_joy, 12};
+  // Create some buttons
+  frc::JoystickButton m_dUp{&m_joy, 5};
+  frc::JoystickButton m_dRight{&m_joy, 6};
+  frc::JoystickButton m_dDown{&m_joy, 7};
+  frc::JoystickButton m_dLeft{&m_joy, 8};
+  frc::JoystickButton m_l2{&m_joy, 9};
+  frc::JoystickButton m_r2{&m_joy, 10};
+  frc::JoystickButton m_l1{&m_joy, 11};
+  frc::JoystickButton m_r1{&m_joy, 12};
 };

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

@@ -16,34 +16,29 @@ Claw Robot::claw;
 OI Robot::oi;
 
 void Robot::RobotInit() {
-	// Show what command your subsystem is running on the SmartDashboard
-	frc::SmartDashboard::PutData(&drivetrain);
-	frc::SmartDashboard::PutData(&elevator);
-	frc::SmartDashboard::PutData(&wrist);
-	frc::SmartDashboard::PutData(&claw);
+  // Show what command your subsystem is running on the SmartDashboard
+  frc::SmartDashboard::PutData(&drivetrain);
+  frc::SmartDashboard::PutData(&elevator);
+  frc::SmartDashboard::PutData(&wrist);
+  frc::SmartDashboard::PutData(&claw);
 }
 
 void Robot::AutonomousInit() {
-	m_autonomousCommand.Start();
-	std::cout << "Starting Auto" << std::endl;
+  m_autonomousCommand.Start();
+  std::cout << "Starting Auto" << std::endl;
 }
 
-void Robot::AutonomousPeriodic() {
-	frc::Scheduler::GetInstance()->Run();
-}
+void Robot::AutonomousPeriodic() { frc::Scheduler::GetInstance()->Run(); }
 
 void Robot::TeleopInit() {
-	// This makes sure that the autonomous stops running when
-	// teleop starts running. If you want the autonomous to
-	// continue until interrupted by another command, remove
-	// this line or comment it out.
-	m_autonomousCommand.Cancel();
-	std::cout << "Starting Teleop" << std::endl;
+  // This makes sure that the autonomous stops running when teleop starts
+  // running. If you want the autonomous to continue until interrupted by
+  // another command, remove this line or comment it out.
+  m_autonomousCommand.Cancel();
+  std::cout << "Starting Teleop" << std::endl;
 }
 
-void Robot::TeleopPeriodic() {
-	frc::Scheduler::GetInstance()->Run();
-}
+void Robot::TeleopPeriodic() { frc::Scheduler::GetInstance()->Run(); }
 
 void Robot::TestPeriodic() {}
 

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

@@ -21,21 +21,21 @@
 #include "Subsystems/Wrist.h"
 
 class Robot : public frc::IterativeRobot {
-public:
-	static DriveTrain drivetrain;
-	static Elevator elevator;
-	static Wrist wrist;
-	static Claw claw;
-	static OI oi;
+ public:
+  static DriveTrain drivetrain;
+  static Elevator elevator;
+  static Wrist wrist;
+  static Claw claw;
+  static OI oi;
 
-private:
-	Autonomous m_autonomousCommand;
-	frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
+ private:
+  Autonomous m_autonomousCommand;
+  frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
 
-	void RobotInit() override;
-	void AutonomousInit() override;
-	void AutonomousPeriodic() override;
-	void TeleopInit() override;
-	void TeleopPeriodic() override;
-	void TestPeriodic() override;
+  void RobotInit() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestPeriodic() override;
 };

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

@@ -7,28 +7,19 @@
 
 #include "Claw.h"
 
-Claw::Claw()
-    : frc::Subsystem("Claw") {
-	// Let's show everything on the LiveWindow
-	AddChild("Motor", m_motor);
+Claw::Claw() : frc::Subsystem("Claw") {
+  // Let's show everything on the LiveWindow
+  AddChild("Motor", m_motor);
 }
 
 void Claw::InitDefaultCommand() {}
 
-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() {}

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Claw.h

@@ -17,35 +17,35 @@
  * motors don't stall.
  */
 class Claw : public frc::Subsystem {
-public:
-	Claw();
+ public:
+  Claw();
 
-	void InitDefaultCommand() override;
+  void InitDefaultCommand() override;
 
-	/**
-	 * Set the claw motor to move in the open direction.
-	 */
-	void Open();
+  /**
+   * Set the claw motor to move in the open direction.
+   */
+  void Open();
 
-	/**
-	 * Set the claw motor to move in the close direction.
-	 */
-	void Close();
+  /**
+   * Set the claw motor to move in the close direction.
+   */
+  void Close();
 
-	/**
-	 * Stops the claw motor from moving.
-	 */
-	void Stop();
+  /**
+   * Stops the claw motor from moving.
+   */
+  void Stop();
 
-	/**
-	 * Return true when the robot is grabbing an object hard enough
-	 * to trigger the limit switch.
-	 */
-	bool IsGripping();
+  /**
+   * Return true when the robot is grabbing an object hard enough
+   * to trigger the limit switch.
+   */
+  bool IsGripping();
 
-	void Log();
+  void Log();
 
-private:
-	frc::Spark m_motor{7};
-	frc::DigitalInput m_contact{5};
+ private:
+  frc::Spark m_motor{7};
+  frc::DigitalInput m_contact{5};
 };

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

@@ -12,33 +12,32 @@
 
 #include "../Commands/TankDriveWithJoystick.h"
 
-DriveTrain::DriveTrain()
-    : frc::Subsystem("DriveTrain") {
+DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") {
 // Encoders may measure differently in the real world and in
 // simulation. In this example the robot moves 0.042 barleycorns
 // per tick in the real world, but the simulated encoders
 // simulate 360 tick encoders. This if statement allows for the
 // real robot to handle this difference in devices.
 #ifndef SIMULATION
-	m_leftEncoder.SetDistancePerPulse(0.042);
-	m_rightEncoder.SetDistancePerPulse(0.042);
+  m_leftEncoder.SetDistancePerPulse(0.042);
+  m_rightEncoder.SetDistancePerPulse(0.042);
 #else
-	// Circumference in ft = 4in/12(in/ft)*PI
-	m_leftEncoder.SetDistancePerPulse(
-			static_cast<double>(4.0 / 12.0 * M_PI) / 360.0);
-	m_rightEncoder.SetDistancePerPulse(
-			static_cast<double>(4.0 / 12.0 * M_PI) / 360.0);
+  // Circumference in ft = 4in/12(in/ft)*PI
+  m_leftEncoder.SetDistancePerPulse(static_cast<double>(4.0 / 12.0 * M_PI) /
+                                    360.0);
+  m_rightEncoder.SetDistancePerPulse(static_cast<double>(4.0 / 12.0 * M_PI) /
+                                     360.0);
 #endif
 
-	// Let's show everything on the LiveWindow
-	// AddChild("Front_Left Motor", m_frontLeft);
-	// AddChild("Rear Left Motor", m_rearLeft);
-	// AddChild("Front Right Motor", m_frontRight);
-	// AddChild("Rear Right Motor", m_rearRight);
-	AddChild("Left Encoder", m_leftEncoder);
-	AddChild("Right Encoder", m_rightEncoder);
-	AddChild("Rangefinder", m_rangefinder);
-	AddChild("Gyro", m_gyro);
+  // Let's show everything on the LiveWindow
+  // AddChild("Front_Left Motor", m_frontLeft);
+  // AddChild("Rear Left Motor", m_rearLeft);
+  // AddChild("Front Right Motor", m_frontRight);
+  // AddChild("Rear Right Motor", m_rearRight);
+  AddChild("Left Encoder", m_leftEncoder);
+  AddChild("Right Encoder", m_rightEncoder);
+  AddChild("Rangefinder", m_rangefinder);
+  AddChild("Gyro", m_gyro);
 }
 
 /**
@@ -46,42 +45,38 @@ DriveTrain::DriveTrain()
  * using the PS3 joystick.
  */
 void DriveTrain::InitDefaultCommand() {
-	SetDefaultCommand(new TankDriveWithJoystick());
+  SetDefaultCommand(new TankDriveWithJoystick());
 }
 
 /**
  * The log method puts interesting information to the SmartDashboard.
  */
 void DriveTrain::Log() {
-	frc::SmartDashboard::PutNumber(
-			"Left Distance", m_leftEncoder.GetDistance());
-	frc::SmartDashboard::PutNumber(
-			"Right Distance", m_rightEncoder.GetDistance());
-	frc::SmartDashboard::PutNumber("Left Speed", m_leftEncoder.GetRate());
-	frc::SmartDashboard::PutNumber("Right Speed", m_rightEncoder.GetRate());
-	frc::SmartDashboard::PutNumber("Gyro", m_gyro.GetAngle());
+  frc::SmartDashboard::PutNumber("Left Distance", m_leftEncoder.GetDistance());
+  frc::SmartDashboard::PutNumber("Right Distance",
+                                 m_rightEncoder.GetDistance());
+  frc::SmartDashboard::PutNumber("Left Speed", m_leftEncoder.GetRate());
+  frc::SmartDashboard::PutNumber("Right Speed", m_rightEncoder.GetRate());
+  frc::SmartDashboard::PutNumber("Gyro", m_gyro.GetAngle());
 }
 
 void DriveTrain::Drive(double left, double right) {
-	m_robotDrive.TankDrive(left, 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();
-	m_leftEncoder.Reset();
-	m_rightEncoder.Reset();
+  m_gyro.Reset();
+  m_leftEncoder.Reset();
+  m_rightEncoder.Reset();
 }
 
 double DriveTrain::GetDistance() {
-	return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance())
-	       / 2.0;
+  return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.0;
 }
 
 double DriveTrain::GetDistanceToObstacle() {
-	// Really meters in simulation since it's a rangefinder...
-	return m_rangefinder.GetAverageVoltage();
+  // Really meters in simulation since it's a rangefinder...
+  return m_rangefinder.GetAverageVoltage();
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/DriveTrain.h

@@ -25,60 +25,60 @@ class Joystick;
  * and a gyro.
  */
 class DriveTrain : public frc::Subsystem {
-public:
-	DriveTrain();
+ public:
+  DriveTrain();
 
-	/**
-	 * When no other command is running let the operator drive around
-	 * using the PS3 joystick.
-	 */
-	void InitDefaultCommand() override;
+  /**
+   * When no other command is running let the operator drive around
+   * using the PS3 joystick.
+   */
+  void InitDefaultCommand() override;
 
-	/**
-	 * The log method puts interesting information to the SmartDashboard.
-	 */
-	void Log();
+  /**
+   * The log method puts interesting information to the SmartDashboard.
+   */
+  void Log();
 
-	/**
-	 * Tank style driving for the DriveTrain.
-	 * @param left Speed in range [-1,1]
-	 * @param right Speed in range [-1,1]
-	 */
-	void Drive(double left, double right);
+  /**
+   * Tank style driving for the DriveTrain.
+   * @param left Speed in range [-1,1]
+   * @param right Speed in range [-1,1]
+   */
+  void Drive(double left, double right);
 
-	/**
-	 * @return The robots heading in degrees.
-	 */
-	double GetHeading();
+  /**
+   * @return The robots heading in degrees.
+   */
+  double GetHeading();
 
-	/**
-	 * Reset the robots sensors to the zero states.
-	 */
-	void Reset();
+  /**
+   * Reset the robots sensors to the zero states.
+   */
+  void Reset();
 
-	/**
-	 * @return The distance driven (average of left and right encoders).
-	 */
-	double GetDistance();
+  /**
+   * @return The distance driven (average of left and right encoders).
+   */
+  double GetDistance();
 
-	/**
-	 * @return The distance to the obstacle detected by the rangefinder.
-	 */
-	double GetDistanceToObstacle();
+  /**
+   * @return The distance to the obstacle detected by the rangefinder.
+   */
+  double GetDistanceToObstacle();
 
-private:
-	frc::Spark m_frontLeft{1};
-	frc::Spark m_rearLeft{2};
-	frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
+ private:
+  frc::Spark m_frontLeft{1};
+  frc::Spark m_rearLeft{2};
+  frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
 
-	frc::Spark m_frontRight{3};
-	frc::Spark m_rearRight{4};
-	frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
+  frc::Spark m_frontRight{3};
+  frc::Spark m_rearRight{4};
+  frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
 
-	frc::DifferentialDrive m_robotDrive{m_left, m_right};
+  frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
-	frc::Encoder m_leftEncoder{1, 2};
-	frc::Encoder m_rightEncoder{3, 4};
-	frc::AnalogInput m_rangefinder{6};
-	frc::AnalogGyro m_gyro{1};
+  frc::Encoder m_leftEncoder{1, 2};
+  frc::Encoder m_rightEncoder{3, 4};
+  frc::AnalogInput m_rangefinder{6};
+  frc::AnalogGyro m_gyro{1};
 };

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

@@ -10,28 +10,23 @@
 #include <LiveWindow/LiveWindow.h>
 #include <SmartDashboard/SmartDashboard.h>
 
-Elevator::Elevator()
-    : frc::PIDSubsystem("Elevator", kP_real, kI_real, 0.0) {
+Elevator::Elevator() : frc::PIDSubsystem("Elevator", kP_real, kI_real, 0.0) {
 #ifdef SIMULATION  // Check for simulation and update PID values
-	GetPIDController()->SetPID(kP_simulation, kI_simulation, 0, 0);
+  GetPIDController()->SetPID(kP_simulation, kI_simulation, 0, 0);
 #endif
-	SetAbsoluteTolerance(0.005);
+  SetAbsoluteTolerance(0.005);
 
-	// Let's show everything on the LiveWindow
-	AddChild("Motor", m_motor);
-	AddChild("Pot", &m_pot);
+  // Let's show everything on the LiveWindow
+  AddChild("Motor", m_motor);
+  AddChild("Pot", &m_pot);
 }
 
 void Elevator::InitDefaultCommand() {}
 
 void Elevator::Log() {
-	// frc::SmartDashboard::PutData("Wrist Pot", &m_pot);
+  // frc::SmartDashboard::PutData("Wrist Pot", &m_pot);
 }
 
-double Elevator::ReturnPIDInput() {
-	return m_pot.Get();
-}
+double Elevator::ReturnPIDInput() { return m_pot.Get(); }
 
-void Elevator::UsePIDOutput(double d) {
-	m_motor.Set(d);
-}
+void Elevator::UsePIDOutput(double d) { m_motor.Set(d); }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Elevator.h

@@ -18,42 +18,42 @@
  * minor differences.
  */
 class Elevator : public frc::PIDSubsystem {
-public:
-	Elevator();
+ public:
+  Elevator();
 
-	void InitDefaultCommand() override;
+  void InitDefaultCommand() override;
 
-	/**
-	 * The log method puts interesting information to the SmartDashboard.
-	 */
-	void Log();
+  /**
+   * The log method puts interesting information to the SmartDashboard.
+   */
+  void Log();
 
-	/**
-	 * Use the potentiometer as the PID sensor. This method is automatically
-	 * called by the subsystem.
-	 */
-	double ReturnPIDInput() override;
+  /**
+   * Use the potentiometer as the PID sensor. This method is automatically
+   * called by the subsystem.
+   */
+  double ReturnPIDInput() override;
 
-	/**
-	 * Use the motor as the PID output. This method is automatically called
-	 * by
-	 * the subsystem.
-	 */
-	void UsePIDOutput(double d) override;
+  /**
+   * Use the motor as the PID output. This method is automatically called
+   * by
+   * the subsystem.
+   */
+  void UsePIDOutput(double d) override;
 
-private:
-	frc::Spark m_motor{5};
+ private:
+  frc::Spark m_motor{5};
 
 // Conversion value of potentiometer varies between the real world and
 // simulation
 #ifndef SIMULATION
-	frc::AnalogPotentiometer m_pot{2, -2.0 / 5};
+  frc::AnalogPotentiometer m_pot{2, -2.0 / 5};
 #else
-	frc::AnalogPotentiometer m_pot{2};  // Defaults to meters
+  frc::AnalogPotentiometer m_pot{2};  // Defaults to meters
 #endif
 
-	static constexpr double kP_real = 4;
-	static constexpr double kI_real = 0.07;
-	static constexpr double kP_simulation = 18;
-	static constexpr double kI_simulation = 0.2;
+  static constexpr double kP_real = 4;
+  static constexpr double kI_real = 0.07;
+  static constexpr double kP_simulation = 18;
+  static constexpr double kI_simulation = 0.2;
 };

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

@@ -9,28 +9,23 @@
 
 #include <SmartDashboard/SmartDashboard.h>
 
-Wrist::Wrist()
-    : frc::PIDSubsystem("Wrist", kP_real, 0.0, 0.0) {
+Wrist::Wrist() : frc::PIDSubsystem("Wrist", kP_real, 0.0, 0.0) {
 #ifdef SIMULATION  // Check for simulation and update PID values
-	GetPIDController()->SetPID(kP_simulation, 0, 0, 0);
+  GetPIDController()->SetPID(kP_simulation, 0, 0, 0);
 #endif
-	SetAbsoluteTolerance(2.5);
+  SetAbsoluteTolerance(2.5);
 
-	// Let's show everything on the LiveWindow
-	AddChild("Motor", m_motor);
-	AddChild("Pot", m_pot);
+  // Let's show everything on the LiveWindow
+  AddChild("Motor", m_motor);
+  AddChild("Pot", m_pot);
 }
 
 void Wrist::InitDefaultCommand() {}
 
 void Wrist::Log() {
-	// frc::SmartDashboard::PutData("Wrist Angle", &m_pot);
+  // frc::SmartDashboard::PutData("Wrist Angle", &m_pot);
 }
 
-double Wrist::ReturnPIDInput() {
-	return m_pot.Get();
-}
+double Wrist::ReturnPIDInput() { return m_pot.Get(); }
 
-void Wrist::UsePIDOutput(double d) {
-	m_motor.Set(d);
-}
+void Wrist::UsePIDOutput(double d) { m_motor.Set(d); }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Wrist.h

@@ -16,40 +16,40 @@
  * of a linear joint.
  */
 class Wrist : public PIDSubsystem {
-public:
-	Wrist();
+ public:
+  Wrist();
 
-	void InitDefaultCommand() override;
+  void InitDefaultCommand() override;
 
-	/**
-	 * The log method puts interesting information to the SmartDashboard.
-	 */
-	void Log();
+  /**
+   * The log method puts interesting information to the SmartDashboard.
+   */
+  void Log();
 
-	/**
-	 * Use the potentiometer as the PID sensor. This method is automatically
-	 * called by the subsystem.
-	 */
-	double ReturnPIDInput() override;
+  /**
+   * Use the potentiometer as the PID sensor. This method is automatically
+   * called by the subsystem.
+   */
+  double ReturnPIDInput() override;
 
-	/**
-	 * Use the motor as the PID output. This method is automatically called
-	 * by
-	 * the subsystem.
-	 */
-	void UsePIDOutput(double d) override;
+  /**
+   * Use the motor as the PID output. This method is automatically called
+   * by
+   * the subsystem.
+   */
+  void UsePIDOutput(double d) override;
 
-private:
-	frc::Spark m_motor{6};
+ private:
+  frc::Spark m_motor{6};
 
 // Conversion value of potentiometer varies between the real world and
 // simulation
 #ifndef SIMULATION
-	frc::AnalogPotentiometer m_pot{3, -270.0 / 5};
+  frc::AnalogPotentiometer m_pot{3, -270.0 / 5};
 #else
-	frc::AnalogPotentiometer m_pot{3};  // Defaults to degrees
+  frc::AnalogPotentiometer m_pot{3};  // Defaults to degrees
 #endif
 
-	static constexpr double kP_real = 1;
-	static constexpr double kP_simulation = 0.05;
+  static constexpr double kP_real = 1;
+  static constexpr double kP_simulation = 0.05;
 };

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

@@ -13,46 +13,46 @@
 #include <Timer.h>
 
 class Robot : public frc::IterativeRobot {
-public:
-	Robot() {
-		m_robotDrive.SetExpiration(0.1);
-		m_timer.Start();
-	}
+ public:
+  Robot() {
+    m_robotDrive.SetExpiration(0.1);
+    m_timer.Start();
+  }
 
-	void AutonomousInit() override {
-		m_timer.Reset();
-		m_timer.Start();
-	}
+  void AutonomousInit() override {
+    m_timer.Reset();
+    m_timer.Start();
+  }
 
-	void AutonomousPeriodic() override {
-		// Drive for 2 seconds
-		if (m_timer.Get() < 2.0) {
-			// Drive forwards half speed
-			m_robotDrive.ArcadeDrive(-0.5, 0.0);
-		} else {
-			// Stop robot
-			m_robotDrive.ArcadeDrive(0.0, 0.0);
-		}
-	}
+  void AutonomousPeriodic() override {
+    // Drive for 2 seconds
+    if (m_timer.Get() < 2.0) {
+      // Drive forwards half speed
+      m_robotDrive.ArcadeDrive(-0.5, 0.0);
+    } else {
+      // Stop robot
+      m_robotDrive.ArcadeDrive(0.0, 0.0);
+    }
+  }
 
-	void TeleopInit() override {}
+  void TeleopInit() override {}
 
-	void TeleopPeriodic() override {
-		// Drive with arcade style (use right stick)
-		m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
-	}
+  void TeleopPeriodic() override {
+    // Drive with arcade style (use right stick)
+    m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
+  }
 
-	void TestPeriodic() override {}
+  void TestPeriodic() override {}
 
-private:
-	// Robot drive system
-	frc::Spark m_left{0};
-	frc::Spark m_right{1};
-	frc::DifferentialDrive m_robotDrive{m_left, m_right};
+ private:
+  // Robot drive system
+  frc::Spark m_left{0};
+  frc::Spark m_right{1};
+  frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
-	frc::Joystick m_stick{0};
-	frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
-	frc::Timer m_timer;
+  frc::Joystick m_stick{0};
+  frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
+  frc::Timer m_timer;
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -19,42 +19,40 @@
  * backwards while the gyro is used for direction keeping.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	void RobotInit() override {
-		m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
-	}
+ public:
+  void RobotInit() override { m_gyro.SetSensitivity(kVoltsPerDegreePerSecond); }
 
-	/**
-	 * The motor speed is set from the joystick while the DifferentialDrive
-	 * turning value is assigned from the error between the setpoint and the
-	 * gyro angle.
-	 */
-	void TeleopPeriodic() override {
-		double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
-		// Invert the direction of the turn if we are going backwards
-		turningValue = std::copysign(turningValue, m_joystick.GetY());
-		m_robotDrive.ArcadeDrive(m_joystick.GetY(), turningValue);
-	}
+  /**
+   * The motor speed is set from the joystick while the DifferentialDrive
+   * turning value is assigned from the error between the setpoint and the gyro
+   * angle.
+   */
+  void TeleopPeriodic() override {
+    double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
+    // Invert the direction of the turn if we are going backwards
+    turningValue = std::copysign(turningValue, m_joystick.GetY());
+    m_robotDrive.ArcadeDrive(m_joystick.GetY(), turningValue);
+  }
 
-private:
-	static constexpr double kAngleSetpoint = 0.0;
-	static constexpr double kP = 0.005;  // Proportional turning constant
+ private:
+  static constexpr double kAngleSetpoint = 0.0;
+  static constexpr double kP = 0.005;  // Proportional turning constant
 
-	// Gyro calibration constant, may need to be adjusted
-	// Gyro value of 360 is set to correspond to one full revolution
-	static constexpr double kVoltsPerDegreePerSecond = 0.0128;
+  // Gyro calibration constant, may need to be adjusted. Gyro value of 360 is
+  // set to correspond to one full revolution.
+  static constexpr double kVoltsPerDegreePerSecond = 0.0128;
 
-	static constexpr int kLeftMotorPort = 0;
-	static constexpr int kRightMotorPort = 1;
-	static constexpr int kGyroPort = 0;
-	static constexpr int kJoystickPort = 0;
+  static constexpr int kLeftMotorPort = 0;
+  static constexpr int kRightMotorPort = 1;
+  static constexpr int kGyroPort = 0;
+  static constexpr int kJoystickPort = 0;
 
-	frc::Spark m_left{kLeftMotorPort};
-	frc::Spark m_right{kRightMotorPort};
-	frc::DifferentialDrive m_robotDrive{m_left, m_right};
+  frc::Spark m_left{kLeftMotorPort};
+  frc::Spark m_right{kRightMotorPort};
+  frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
-	frc::AnalogGyro m_gyro{kGyroPort};
-	frc::Joystick m_joystick{kJoystickPort};
+  frc::AnalogGyro m_gyro{kGyroPort};
+  frc::Joystick m_joystick{kJoystickPort};
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -17,46 +17,45 @@
  * (field-oriented controls).
  */
 class Robot : public frc::IterativeRobot {
-public:
-	void RobotInit() override {
-		// invert the left side motors
-		// you may need to change or remove this to match your robot
-		m_frontLeft.SetInverted(true);
-		m_rearLeft.SetInverted(true);
+ public:
+  void RobotInit() override {
+    // Invert the left side motors. You may need to change or remove this to
+    // match your robot.
+    m_frontLeft.SetInverted(true);
+    m_rearLeft.SetInverted(true);
 
-		m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
-	}
+    m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
+  }
 
-	/**
-	 * Mecanum drive is used with the gyro angle as an input.
-	 */
-	void TeleopPeriodic() override {
-		m_robotDrive.DriveCartesian(m_joystick.GetX(),
-				m_joystick.GetY(), m_joystick.GetZ(),
-				m_gyro.GetAngle());
-	}
+  /**
+   * Mecanum drive is used with the gyro angle as an input.
+   */
+  void TeleopPeriodic() override {
+    m_robotDrive.DriveCartesian(m_joystick.GetX(), m_joystick.GetY(),
+                                m_joystick.GetZ(), m_gyro.GetAngle());
+  }
 
-private:
-	// Gyro calibration constant, may need to be adjusted
-	// Gyro value of 360 is set to correspond to one full revolution
-	static constexpr double kVoltsPerDegreePerSecond = 0.0128;
+ private:
+  // Gyro calibration constant, may need to be adjusted. Gyro value of 360 is
+  // set to correspond to one full revolution.
+  static constexpr double kVoltsPerDegreePerSecond = 0.0128;
 
-	static constexpr int kFrontLeftMotorPort = 0;
-	static constexpr int kRearLeftMotorPort = 1;
-	static constexpr int kFrontRightMotorPort = 2;
-	static constexpr int kRearRightMotorPort = 3;
-	static constexpr int kGyroPort = 0;
-	static constexpr int kJoystickPort = 0;
+  static constexpr int kFrontLeftMotorPort = 0;
+  static constexpr int kRearLeftMotorPort = 1;
+  static constexpr int kFrontRightMotorPort = 2;
+  static constexpr int kRearRightMotorPort = 3;
+  static constexpr int kGyroPort = 0;
+  static constexpr int kJoystickPort = 0;
 
-	frc::Spark m_frontLeft{kFrontLeftMotorPort};
-	frc::Spark m_rearLeft{kRearLeftMotorPort};
-	frc::Spark m_frontRight{kFrontRightMotorPort};
-	frc::Spark m_rearRight{kRearRightMotorPort};
-	frc::MecanumDrive m_robotDrive{
-			m_frontLeft, m_rearLeft, m_frontRight, m_rearRight};
+  frc::Spark m_frontLeft{kFrontLeftMotorPort};
+  frc::Spark m_rearLeft{kRearLeftMotorPort};
+  frc::Spark m_frontRight{kFrontRightMotorPort};
+  frc::Spark m_rearRight{kRearRightMotorPort};
+  frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
+                                 m_rearRight};
 
-	frc::AnalogGyro m_gyro{kGyroPort};
-	frc::Joystick m_joystick{kJoystickPort};
+  frc::AnalogGyro m_gyro{kGyroPort};
+  frc::Joystick m_joystick{kJoystickPort};
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -17,62 +17,59 @@
 /**
  * This is a demo program showing the use of OpenCV to do vision processing. The
  * image is acquired from the USB camera, then a rectangle is put on the image
- * and
- * sent to the dashboard. OpenCV has many methods for different types of
+ * and sent to the dashboard. OpenCV has many methods for different types of
  * processing.
  */
 class Robot : public frc::IterativeRobot {
 #if defined(__linux__)
-private:
-	static void VisionThread() {
-		// Get the USB camera from CameraServer
-		cs::UsbCamera camera =
-				CameraServer::GetInstance()
-						->StartAutomaticCapture();
-		// Set the resolution
-		camera.SetResolution(640, 480);
 
-		// Get a CvSink. This will capture Mats from the Camera
-		cs::CvSink cvSink = CameraServer::GetInstance()->GetVideo();
-		// Setup a CvSource. This will send images back to the Dashboard
-		cs::CvSource outputStream =
-				CameraServer::GetInstance()->PutVideo(
-						"Rectangle", 640, 480);
+ private:
+  static void VisionThread() {
+    // Get the USB camera from CameraServer
+    cs::UsbCamera camera = CameraServer::GetInstance()->StartAutomaticCapture();
+    // Set the resolution
+    camera.SetResolution(640, 480);
 
-		// Mats are very memory expensive. Lets reuse this Mat.
-		cv::Mat mat;
+    // Get a CvSink. This will capture Mats from the Camera
+    cs::CvSink cvSink = CameraServer::GetInstance()->GetVideo();
+    // Setup a CvSource. This will send images back to the Dashboard
+    cs::CvSource outputStream =
+        CameraServer::GetInstance()->PutVideo("Rectangle", 640, 480);
 
-		while (true) {
-			// Tell the CvSink to grab a frame from the camera and
-			// put it
-			// in the source mat.  If there is an error notify the
-			// output.
-			if (cvSink.GrabFrame(mat) == 0) {
-				// Send the output the error.
-				outputStream.NotifyError(cvSink.GetError());
-				// skip the rest of the current iteration
-				continue;
-			}
-			// Put a rectangle on the image
-			rectangle(mat, cv::Point(100, 100), cv::Point(400, 400),
-					cv::Scalar(255, 255, 255), 5);
-			// Give the output stream a new image to display
-			outputStream.PutFrame(mat);
-		}
-	}
+    // Mats are very memory expensive. Lets reuse this Mat.
+    cv::Mat mat;
+
+    while (true) {
+      // Tell the CvSink to grab a frame from the camera and
+      // put it
+      // in the source mat.  If there is an error notify the
+      // output.
+      if (cvSink.GrabFrame(mat) == 0) {
+        // Send the output the error.
+        outputStream.NotifyError(cvSink.GetError());
+        // skip the rest of the current iteration
+        continue;
+      }
+      // Put a rectangle on the image
+      rectangle(mat, cv::Point(100, 100), cv::Point(400, 400),
+                cv::Scalar(255, 255, 255), 5);
+      // Give the output stream a new image to display
+      outputStream.PutFrame(mat);
+    }
+  }
 #endif
 
-	void RobotInit() override {
-	// We need to run our vision program in a separate Thread.
-	// If not, our robot program will not run
+  void RobotInit() override {
+  // We need to run our vision program in a separate thread. If not, our robot
+  // program will not run.
 #if defined(__linux__)
-		std::thread visionThread(VisionThread);
-		visionThread.detach();
+    std::thread visionThread(VisionThread);
+    visionThread.detach();
 #else
-		wpi::errs() << "Vision only available on Linux.\n";
-		wpi::errs().flush();
+    wpi::errs() << "Vision only available on Linux.\n";
+    wpi::errs().flush();
 #endif
-	}
+  }
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -15,39 +15,37 @@
  * MecanumDrive class.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	void RobotInit() override {
-		// Invert the left side motors
-		// You may need to change or remove this to match your robot
-		m_frontLeft.SetInverted(true);
-		m_rearLeft.SetInverted(true);
-	}
+ public:
+  void RobotInit() override {
+    // Invert the left side motors. You may need to change or remove this to
+    // match your robot.
+    m_frontLeft.SetInverted(true);
+    m_rearLeft.SetInverted(true);
+  }
 
-	void TeleopPeriodic() override {
-		/* Use the joystick X axis for lateral movement, Y axis for
-		 * forward
-		 * movement, and Z axis for rotation.
-		 */
-		m_robotDrive.DriveCartesian(
-				m_stick.GetX(), m_stick.GetY(), m_stick.GetZ());
-	}
+  void TeleopPeriodic() override {
+    /* Use the joystick X axis for lateral movement, Y axis for forward
+     * movement, and Z axis for rotation.
+     */
+    m_robotDrive.DriveCartesian(m_stick.GetX(), m_stick.GetY(), m_stick.GetZ());
+  }
 
-private:
-	static constexpr int kFrontLeftChannel = 0;
-	static constexpr int kRearLeftChannel = 1;
-	static constexpr int kFrontRightChannel = 2;
-	static constexpr int kRearRightChannel = 3;
+ private:
+  static constexpr int kFrontLeftChannel = 0;
+  static constexpr int kRearLeftChannel = 1;
+  static constexpr int kFrontRightChannel = 2;
+  static constexpr int kRearRightChannel = 3;
 
-	static constexpr int kJoystickChannel = 0;
+  static constexpr int kJoystickChannel = 0;
 
-	frc::Spark m_frontLeft{kFrontLeftChannel};
-	frc::Spark m_rearLeft{kRearLeftChannel};
-	frc::Spark m_frontRight{kFrontRightChannel};
-	frc::Spark m_rearRight{kRearRightChannel};
-	frc::MecanumDrive m_robotDrive{
-			m_frontLeft, m_rearLeft, m_frontRight, m_rearRight};
+  frc::Spark m_frontLeft{kFrontLeftChannel};
+  frc::Spark m_rearLeft{kRearLeftChannel};
+  frc::Spark m_frontRight{kFrontRightChannel};
+  frc::Spark m_rearRight{kRearRightChannel};
+  frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
+                                 m_rearRight};
 
-	frc::Joystick m_stick{kJoystickChannel};
+  frc::Joystick m_stick{kJoystickChannel};
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -18,12 +18,12 @@
  * range from -1 to 1 making it easy to work together.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	void TeleopPeriodic() override { m_motor.Set(m_stick.GetY()); }
+ public:
+  void TeleopPeriodic() override { m_motor.Set(m_stick.GetY()); }
 
-private:
-	frc::Joystick m_stick{0};
-	frc::Spark m_motor{0};
+ private:
+  frc::Joystick m_stick{0};
+  frc::Spark m_motor{0};
 };
 
 START_ROBOT_CLASS(Robot)

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/CheckForHotGoal.cpp

@@ -9,11 +9,9 @@
 
 #include "../Robot.h"
 
-CheckForHotGoal::CheckForHotGoal(double time) {
-	SetTimeout(time);
-}
+CheckForHotGoal::CheckForHotGoal(double time) { SetTimeout(time); }
 
 // Make this return true when this Command no longer needs to run execute()
 bool CheckForHotGoal::IsFinished() {
-	return IsTimedOut() || Robot::shooter.GoalIsHot();
+  return IsTimedOut() || Robot::shooter.GoalIsHot();
 }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/CheckForHotGoal.h

@@ -16,7 +16,7 @@
  * the hot goal is detected or until it is timed out.
  */
 class CheckForHotGoal : public frc::Command {
-public:
-	explicit CheckForHotGoal(double time);
-	bool IsFinished() override;
+ public:
+  explicit CheckForHotGoal(double time);
+  bool IsFinished() override;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/CloseClaw.cpp

@@ -9,11 +9,7 @@
 
 #include "../Robot.h"
 
-CloseClaw::CloseClaw() {
-	Requires(&Robot::collector);
-}
+CloseClaw::CloseClaw() { Requires(&Robot::collector); }
 
 // Called just before this Command runs the first time
-void CloseClaw::Initialize() {
-	Robot::collector.Close();
-}
+void CloseClaw::Initialize() { Robot::collector.Close(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/CloseClaw.h

@@ -16,7 +16,7 @@
  * detect that.
  */
 class CloseClaw : public frc::InstantCommand {
-public:
-	CloseClaw();
-	void Initialize() override;
+ public:
+  CloseClaw();
+  void Initialize() override;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/Collect.cpp

@@ -14,8 +14,8 @@
 #include "WaitForBall.h"
 
 Collect::Collect() {
-	AddSequential(new SetCollectionSpeed(Collector::kForward));
-	AddParallel(new CloseClaw());
-	AddSequential(new SetPivotSetpoint(Pivot::kCollect));
-	AddSequential(new WaitForBall());
+  AddSequential(new SetCollectionSpeed(Collector::kForward));
+  AddParallel(new CloseClaw());
+  AddSequential(new SetPivotSetpoint(Pivot::kCollect));
+  AddSequential(new WaitForBall());
 }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/Collect.h

@@ -13,6 +13,6 @@
  * Get the robot set to collect balls.
  */
 class Collect : public frc::CommandGroup {
-public:
-	Collect();
+ public:
+  Collect();
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp

@@ -16,13 +16,13 @@
 #include "WaitForPressure.h"
 
 DriveAndShootAutonomous::DriveAndShootAutonomous() {
-	AddSequential(new CloseClaw());
-	AddSequential(new WaitForPressure(), 2);
+  AddSequential(new CloseClaw());
+  AddSequential(new WaitForPressure(), 2);
 #ifndef SIMULATION
-	// NOTE: Simulation doesn't currently have the concept of hot.
-	AddSequential(new CheckForHotGoal(2));
+  // NOTE: Simulation doesn't currently have the concept of hot.
+  AddSequential(new CheckForHotGoal(2));
 #endif
-	AddSequential(new SetPivotSetpoint(45));
-	AddSequential(new DriveForward(8, 0.3));
-	AddSequential(new Shoot());
+  AddSequential(new SetPivotSetpoint(45));
+  AddSequential(new DriveForward(8, 0.3));
+  AddSequential(new Shoot());
 }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/DriveAndShootAutonomous.h

@@ -14,6 +14,6 @@
  * it will wait briefly.
  */
 class DriveAndShootAutonomous : public frc::CommandGroup {
-public:
-	DriveAndShootAutonomous();
+ public:
+  DriveAndShootAutonomous();
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/DriveForward.cpp

@@ -12,48 +12,40 @@
 #include "../Robot.h"
 
 void DriveForward::init(double dist, double maxSpeed) {
-	Requires(&Robot::drivetrain);
-	m_distance = dist;
-	m_driveForwardSpeed = maxSpeed;
+  Requires(&Robot::drivetrain);
+  m_distance = dist;
+  m_driveForwardSpeed = maxSpeed;
 }
 
-DriveForward::DriveForward() {
-	init(10, 0.5);
-}
+DriveForward::DriveForward() { init(10, 0.5); }
 
-DriveForward::DriveForward(double dist) {
-	init(dist, 0.5);
-}
+DriveForward::DriveForward(double dist) { init(dist, 0.5); }
 
 DriveForward::DriveForward(double dist, double maxSpeed) {
-	init(dist, maxSpeed);
+  init(dist, maxSpeed);
 }
 
 // Called just before this Command runs the first time
 void DriveForward::Initialize() {
-	Robot::drivetrain.GetRightEncoder().Reset();
-	SetTimeout(2);
+  Robot::drivetrain.GetRightEncoder().Reset();
+  SetTimeout(2);
 }
 
 // Called repeatedly when this Command is scheduled to run
 void DriveForward::Execute() {
-	m_error = (m_distance
-			- Robot::drivetrain.GetRightEncoder().GetDistance());
-	if (m_driveForwardSpeed * kP * m_error >= m_driveForwardSpeed) {
-		Robot::drivetrain.TankDrive(
-				m_driveForwardSpeed, m_driveForwardSpeed);
-	} else {
-		Robot::drivetrain.TankDrive(m_driveForwardSpeed * kP * m_error,
-				m_driveForwardSpeed * kP * m_error);
-	}
+  m_error = (m_distance - Robot::drivetrain.GetRightEncoder().GetDistance());
+  if (m_driveForwardSpeed * kP * m_error >= m_driveForwardSpeed) {
+    Robot::drivetrain.TankDrive(m_driveForwardSpeed, m_driveForwardSpeed);
+  } else {
+    Robot::drivetrain.TankDrive(m_driveForwardSpeed * kP * m_error,
+                                m_driveForwardSpeed * kP * m_error);
+  }
 }
 
 // Make this return true when this Command no longer needs to run execute()
 bool DriveForward::IsFinished() {
-	return (std::fabs(m_error) <= kTolerance) || IsTimedOut();
+  return (std::fabs(m_error) <= kTolerance) || IsTimedOut();
 }
 
 // Called once after isFinished returns true
-void DriveForward::End() {
-	Robot::drivetrain.Stop();
-}
+void DriveForward::End() { Robot::drivetrain.Stop(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/DriveForward.h

@@ -14,21 +14,21 @@
  * control This command will drive a given distance limiting to a maximum speed.
  */
 class DriveForward : public frc::Command {
-public:
-	DriveForward();
-	explicit DriveForward(double dist);
-	DriveForward(double dist, double maxSpeed);
-	void Initialize() override;
-	void Execute() override;
-	bool IsFinished() override;
-	void End() override;
+ public:
+  DriveForward();
+  explicit DriveForward(double dist);
+  DriveForward(double dist, double maxSpeed);
+  void Initialize() override;
+  void Execute() override;
+  bool IsFinished() override;
+  void End() override;
 
-private:
-	double m_driveForwardSpeed;
-	double m_distance;
-	double m_error = 0;
-	static constexpr double kTolerance = 0.1;
-	static constexpr double kP = -1.0 / 5.0;
+ private:
+  double m_driveForwardSpeed;
+  double m_distance;
+  double m_error = 0;
+  static constexpr double kTolerance = 0.1;
+  static constexpr double kP = -1.0 / 5.0;
 
-	void init(double dist, double maxSpeed);
+  void init(double dist, double maxSpeed);
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/DriveWithJoystick.cpp

@@ -9,22 +9,16 @@
 
 #include "../Robot.h"
 
-DriveWithJoystick::DriveWithJoystick() {
-	Requires(&Robot::drivetrain);
-}
+DriveWithJoystick::DriveWithJoystick() { Requires(&Robot::drivetrain); }
 
 // Called repeatedly when this Command is scheduled to run
 void DriveWithJoystick::Execute() {
-	auto& joystick = Robot::oi.GetJoystick();
-	Robot::drivetrain.TankDrive(joystick.GetY(), joystick.GetRawAxis(4));
+  auto& joystick = Robot::oi.GetJoystick();
+  Robot::drivetrain.TankDrive(joystick.GetY(), joystick.GetRawAxis(4));
 }
 
 // Make this return true when this Command no longer needs to run execute()
-bool DriveWithJoystick::IsFinished() {
-	return false;
-}
+bool DriveWithJoystick::IsFinished() { return false; }
 
 // Called once after isFinished returns true
-void DriveWithJoystick::End() {
-	Robot::drivetrain.Stop();
-}
+void DriveWithJoystick::End() { Robot::drivetrain.Stop(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/DriveWithJoystick.h

@@ -14,9 +14,9 @@
  * except when interrupted by another command.
  */
 class DriveWithJoystick : public frc::Command {
-public:
-	DriveWithJoystick();
-	void Execute() override;
-	bool IsFinished() override;
-	void End() override;
+ public:
+  DriveWithJoystick();
+  void Execute() override;
+  bool IsFinished() override;
+  void End() override;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/ExtendShooter.cpp

@@ -9,17 +9,12 @@
 
 #include "../Robot.h"
 
-ExtendShooter::ExtendShooter()
-    : frc::TimedCommand(1.0) {
-	Requires(&Robot::shooter);
+ExtendShooter::ExtendShooter() : frc::TimedCommand(1.0) {
+  Requires(&Robot::shooter);
 }
 
 // Called just before this Command runs the first time
-void ExtendShooter::Initialize() {
-	Robot::shooter.ExtendBoth();
-}
+void ExtendShooter::Initialize() { Robot::shooter.ExtendBoth(); }
 
 // Called once after isFinished returns true
-void ExtendShooter::End() {
-	Robot::shooter.RetractBoth();
-}
+void ExtendShooter::End() { Robot::shooter.RetractBoth(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/ExtendShooter.h

@@ -13,8 +13,8 @@
  * Extend the shooter and then retract it after a second.
  */
 class ExtendShooter : public frc::TimedCommand {
-public:
-	ExtendShooter();
-	void Initialize() override;
-	void End() override;
+ public:
+  ExtendShooter();
+  void Initialize() override;
+  void End() override;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/LowGoal.cpp

@@ -13,7 +13,7 @@
 #include "SetPivotSetpoint.h"
 
 LowGoal::LowGoal() {
-	AddSequential(new SetPivotSetpoint(Pivot::kLowGoal));
-	AddSequential(new SetCollectionSpeed(Collector::kReverse));
-	AddSequential(new ExtendShooter());
+  AddSequential(new SetPivotSetpoint(Pivot::kLowGoal));
+  AddSequential(new SetCollectionSpeed(Collector::kReverse));
+  AddSequential(new ExtendShooter());
 }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/LowGoal.h

@@ -14,6 +14,6 @@
  * it.
  */
 class LowGoal : public frc::CommandGroup {
-public:
-	LowGoal();
+ public:
+  LowGoal();
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/OpenClaw.cpp

@@ -9,16 +9,10 @@
 
 #include "../Robot.h"
 
-OpenClaw::OpenClaw() {
-	Requires(&Robot::collector);
-}
+OpenClaw::OpenClaw() { Requires(&Robot::collector); }
 
 // Called just before this Command runs the first time
-void OpenClaw::Initialize() {
-	Robot::collector.Open();
-}
+void OpenClaw::Initialize() { Robot::collector.Open(); }
 
 // Make this return true when this Command no longer needs to run execute()
-bool OpenClaw::IsFinished() {
-	return Robot::collector.IsOpen();
-}
+bool OpenClaw::IsFinished() { return Robot::collector.IsOpen(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/OpenClaw.h

@@ -13,8 +13,8 @@
  * Opens the claw
  */
 class OpenClaw : public frc::Command {
-public:
-	OpenClaw();
-	void Initialize() override;
-	bool IsFinished() override;
+ public:
+  OpenClaw();
+  void Initialize() override;
+  bool IsFinished() override;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/SetCollectionSpeed.cpp

@@ -10,11 +10,9 @@
 #include "../Robot.h"
 
 SetCollectionSpeed::SetCollectionSpeed(double speed) {
-	Requires(&Robot::collector);
-	m_speed = speed;
+  Requires(&Robot::collector);
+  m_speed = speed;
 }
 
 // Called just before this Command runs the first time
-void SetCollectionSpeed::Initialize() {
-	Robot::collector.SetSpeed(m_speed);
-}
+void SetCollectionSpeed::Initialize() { Robot::collector.SetSpeed(m_speed); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/SetCollectionSpeed.h

@@ -15,10 +15,10 @@
  * the spinners may still be adjusting their speed.
  */
 class SetCollectionSpeed : public frc::InstantCommand {
-public:
-	explicit SetCollectionSpeed(double speed);
-	void Initialize() override;
+ public:
+  explicit SetCollectionSpeed(double speed);
+  void Initialize() override;
 
-private:
-	double m_speed;
+ private:
+  double m_speed;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/SetPivotSetpoint.cpp

@@ -10,17 +10,15 @@
 #include "../Robot.h"
 
 SetPivotSetpoint::SetPivotSetpoint(double setpoint) {
-	m_setpoint = setpoint;
-	Requires(&Robot::pivot);
+  m_setpoint = setpoint;
+  Requires(&Robot::pivot);
 }
 
 // Called just before this Command runs the first time
 void SetPivotSetpoint::Initialize() {
-	Robot::pivot.Enable();
-	Robot::pivot.SetSetpoint(m_setpoint);
+  Robot::pivot.Enable();
+  Robot::pivot.SetSetpoint(m_setpoint);
 }
 
 // Make this return true when this Command no longer needs to run execute()
-bool SetPivotSetpoint::IsFinished() {
-	return Robot::pivot.OnTarget();
-}
+bool SetPivotSetpoint::IsFinished() { return Robot::pivot.OnTarget(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/SetPivotSetpoint.h

@@ -15,11 +15,11 @@
  * Other commands using the pivot should make sure they disable PID!
  */
 class SetPivotSetpoint : public frc::Command {
-public:
-	explicit SetPivotSetpoint(double setpoint);
-	void Initialize() override;
-	bool IsFinished() override;
+ public:
+  explicit SetPivotSetpoint(double setpoint);
+  void Initialize() override;
+  bool IsFinished() override;
 
-private:
-	double m_setpoint;
+ private:
+  double m_setpoint;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/Shoot.cpp

@@ -14,8 +14,8 @@
 #include "WaitForPressure.h"
 
 Shoot::Shoot() {
-	AddSequential(new WaitForPressure());
-	AddSequential(new SetCollectionSpeed(Collector::kStop));
-	AddSequential(new OpenClaw());
-	AddSequential(new ExtendShooter());
+  AddSequential(new WaitForPressure());
+  AddSequential(new SetCollectionSpeed(Collector::kStop));
+  AddSequential(new OpenClaw());
+  AddSequential(new ExtendShooter());
 }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/Shoot.h

@@ -13,6 +13,6 @@
  * Shoot the ball at the current angle.
  */
 class Shoot : public frc::CommandGroup {
-public:
-	Shoot();
+ public:
+  Shoot();
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/WaitForBall.cpp

@@ -9,11 +9,7 @@
 
 #include "../Robot.h"
 
-WaitForBall::WaitForBall() {
-	Requires(&Robot::collector);
-}
+WaitForBall::WaitForBall() { Requires(&Robot::collector); }
 
 // Make this return true when this Command no longer needs to run execute()
-bool WaitForBall::IsFinished() {
-	return Robot::collector.HasBall();
-}
+bool WaitForBall::IsFinished() { return Robot::collector.HasBall(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/WaitForBall.h

@@ -15,7 +15,7 @@
  * condition.
  */
 class WaitForBall : public frc::Command {
-public:
-	WaitForBall();
-	bool IsFinished() override;
+ public:
+  WaitForBall();
+  bool IsFinished() override;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/WaitForPressure.cpp

@@ -9,11 +9,7 @@
 
 #include "../Robot.h"
 
-WaitForPressure::WaitForPressure() {
-	Requires(&Robot::pneumatics);
-}
+WaitForPressure::WaitForPressure() { Requires(&Robot::pneumatics); }
 
 // Make this return true when this Command no longer needs to run execute()
-bool WaitForPressure::IsFinished() {
-	return Robot::pneumatics.IsPressurized();
-}
+bool WaitForPressure::IsFinished() { return Robot::pneumatics.IsPressurized(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/WaitForPressure.h

@@ -14,7 +14,7 @@
  * and is intended to be used in command groups to wait for this condition.
  */
 class WaitForPressure : public frc::Command {
-public:
-	WaitForPressure();
-	bool IsFinished() override;
+ public:
+  WaitForPressure();
+  bool IsFinished() override;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/OI.cpp

@@ -18,25 +18,23 @@
 #include "Subsystems/Pivot.h"
 
 OI::OI() {
-	m_r1.WhenPressed(new LowGoal());
-	m_r2.WhenPressed(new Collect());
+  m_r1.WhenPressed(new LowGoal());
+  m_r2.WhenPressed(new Collect());
 
-	m_l1.WhenPressed(new SetPivotSetpoint(Pivot::kShoot));
-	m_l2.WhenPressed(new SetPivotSetpoint(Pivot::kShootNear));
+  m_l1.WhenPressed(new SetPivotSetpoint(Pivot::kShoot));
+  m_l2.WhenPressed(new SetPivotSetpoint(Pivot::kShootNear));
 
-	m_sticks.WhenActive(new Shoot());
+  m_sticks.WhenActive(new Shoot());
 
-	// SmartDashboard Buttons
-	frc::SmartDashboard::PutData("Drive Forward", new DriveForward(2.25));
-	frc::SmartDashboard::PutData("Drive Backward", new DriveForward(-2.25));
-	frc::SmartDashboard::PutData("Start Rollers",
-			new SetCollectionSpeed(Collector::kForward));
-	frc::SmartDashboard::PutData("Stop Rollers",
-			new SetCollectionSpeed(Collector::kStop));
-	frc::SmartDashboard::PutData("Reverse Rollers",
-			new SetCollectionSpeed(Collector::kReverse));
+  // SmartDashboard Buttons
+  frc::SmartDashboard::PutData("Drive Forward", new DriveForward(2.25));
+  frc::SmartDashboard::PutData("Drive Backward", new DriveForward(-2.25));
+  frc::SmartDashboard::PutData("Start Rollers",
+                               new SetCollectionSpeed(Collector::kForward));
+  frc::SmartDashboard::PutData("Stop Rollers",
+                               new SetCollectionSpeed(Collector::kStop));
+  frc::SmartDashboard::PutData("Reverse Rollers",
+                               new SetCollectionSpeed(Collector::kReverse));
 }
 
-frc::Joystick& OI::GetJoystick() {
-	return m_joystick;
-}
+frc::Joystick& OI::GetJoystick() { return m_joystick; }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/OI.h

@@ -13,17 +13,17 @@
 #include "Triggers/DoubleButton.h"
 
 class OI {
-public:
-	OI();
-	frc::Joystick& GetJoystick();
+ public:
+  OI();
+  frc::Joystick& GetJoystick();
 
-private:
-	frc::Joystick m_joystick{0};
+ private:
+  frc::Joystick m_joystick{0};
 
-	frc::JoystickButton m_l1{&m_joystick, 11};
-	frc::JoystickButton m_l2{&m_joystick, 9};
-	frc::JoystickButton m_r1{&m_joystick, 12};
-	frc::JoystickButton m_r2{&m_joystick, 10};
+  frc::JoystickButton m_l1{&m_joystick, 11};
+  frc::JoystickButton m_l2{&m_joystick, 9};
+  frc::JoystickButton m_r1{&m_joystick, 12};
+  frc::JoystickButton m_r2{&m_joystick, 10};
 
-	DoubleButton m_sticks{&m_joystick, 2, 3};
+  DoubleButton m_sticks{&m_joystick, 2, 3};
 };

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

@@ -21,67 +21,63 @@ Pneumatics Robot::pneumatics;
 OI Robot::oi;
 
 void Robot::RobotInit() {
-	// Show what command your subsystem is running on the SmartDashboard
-	frc::SmartDashboard::PutData(&drivetrain);
-	frc::SmartDashboard::PutData(&pivot);
-	frc::SmartDashboard::PutData(&collector);
-	frc::SmartDashboard::PutData(&shooter);
-	frc::SmartDashboard::PutData(&pneumatics);
+  // Show what command your subsystem is running on the SmartDashboard
+  frc::SmartDashboard::PutData(&drivetrain);
+  frc::SmartDashboard::PutData(&pivot);
+  frc::SmartDashboard::PutData(&collector);
+  frc::SmartDashboard::PutData(&shooter);
+  frc::SmartDashboard::PutData(&pneumatics);
 
-	// instantiate the command used for the autonomous period
-	m_autoChooser.AddDefault("Drive and Shoot", &m_driveAndShootAuto);
-	m_autoChooser.AddObject("Drive Forward", &m_driveForwardAuto);
-	frc::SmartDashboard::PutData("Auto Mode", &m_autoChooser);
+  // instantiate the command used for the autonomous period
+  m_autoChooser.AddDefault("Drive and Shoot", &m_driveAndShootAuto);
+  m_autoChooser.AddObject("Drive Forward", &m_driveForwardAuto);
+  frc::SmartDashboard::PutData("Auto Mode", &m_autoChooser);
 
-	pneumatics.Start();  // Pressurize the pneumatics.
+  pneumatics.Start();  // Pressurize the pneumatics.
 }
 
 void Robot::AutonomousInit() {
-	m_autonomousCommand = m_autoChooser.GetSelected();
-	m_autonomousCommand->Start();
+  m_autonomousCommand = m_autoChooser.GetSelected();
+  m_autonomousCommand->Start();
 }
 
 void Robot::AutonomousPeriodic() {
-	frc::Scheduler::GetInstance()->Run();
-	Log();
+  frc::Scheduler::GetInstance()->Run();
+  Log();
 }
 
 void Robot::TeleopInit() {
-	// This makes sure that the autonomous stops running when
-	// teleop starts running. If you want the autonomous to
-	// continue until interrupted by another command, remove
-	// this line or comment it out.
-	if (m_autonomousCommand != nullptr) {
-		m_autonomousCommand->Cancel();
-	}
-	std::cout << "Starting Teleop" << std::endl;
+  // This makes sure that the autonomous stops running when
+  // teleop starts running. If you want the autonomous to
+  // continue until interrupted by another command, remove
+  // this line or comment it out.
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Cancel();
+  }
+  std::cout << "Starting Teleop" << std::endl;
 }
 
 void Robot::TeleopPeriodic() {
-	frc::Scheduler::GetInstance()->Run();
-	Log();
+  frc::Scheduler::GetInstance()->Run();
+  Log();
 }
 
 void Robot::TestPeriodic() {}
 
-void Robot::DisabledInit() {
-	shooter.Unlatch();
-}
+void Robot::DisabledInit() { shooter.Unlatch(); }
 
-void Robot::DisabledPeriodic() {
-	Log();
-}
+void Robot::DisabledPeriodic() { Log(); }
 
 /**
  * Log interesting values to the SmartDashboard.
  */
 void Robot::Log() {
-	Robot::pneumatics.WritePressure();
-	frc::SmartDashboard::PutNumber("Pivot Pot Value", pivot.GetAngle());
-	frc::SmartDashboard::PutNumber("Left Distance",
-			drivetrain.GetLeftEncoder().GetDistance());
-	frc::SmartDashboard::PutNumber("Right Distance",
-			drivetrain.GetRightEncoder().GetDistance());
+  Robot::pneumatics.WritePressure();
+  frc::SmartDashboard::PutNumber("Pivot Pot Value", pivot.GetAngle());
+  frc::SmartDashboard::PutNumber("Left Distance",
+                                 drivetrain.GetLeftEncoder().GetDistance());
+  frc::SmartDashboard::PutNumber("Right Distance",
+                                 drivetrain.GetRightEncoder().GetDistance());
 }
 
 START_ROBOT_CLASS(Robot)

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Robot.h

@@ -21,28 +21,28 @@
 #include "Subsystems/Shooter.h"
 
 class Robot : public IterativeRobot {
-public:
-	static DriveTrain drivetrain;
-	static Pivot pivot;
-	static Collector collector;
-	static Shooter shooter;
-	static Pneumatics pneumatics;
-	static OI oi;
+ public:
+  static DriveTrain drivetrain;
+  static Pivot pivot;
+  static Collector collector;
+  static Shooter shooter;
+  static Pneumatics pneumatics;
+  static OI oi;
 
-private:
-	frc::Command* m_autonomousCommand = nullptr;
-	DriveAndShootAutonomous m_driveAndShootAuto;
-	DriveForward m_driveForwardAuto;
-	SendableChooser<frc::Command*> m_autoChooser;
+ private:
+  frc::Command* m_autonomousCommand = nullptr;
+  DriveAndShootAutonomous m_driveAndShootAuto;
+  DriveForward m_driveForwardAuto;
+  SendableChooser<frc::Command*> m_autoChooser;
 
-	void RobotInit() override;
-	void AutonomousInit() override;
-	void AutonomousPeriodic() override;
-	void TeleopInit() override;
-	void TeleopPeriodic() override;
-	void TestPeriodic() override;
-	void DisabledInit() override;
-	void DisabledPeriodic() override;
+  void RobotInit() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
 
-	void Log();
+  void Log();
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Collector.cpp

@@ -9,37 +9,28 @@
 
 #include <LiveWindow/LiveWindow.h>
 
-Collector::Collector()
-    : frc::Subsystem("Collector") {
-	// Put everything to the LiveWindow for testing.
-	AddChild("Roller Motor", m_rollerMotor);
-	AddChild("Ball Detector", m_ballDetector);
-	AddChild("Claw Open Detector", m_openDetector);
-	AddChild("Piston", m_piston);
+Collector::Collector() : frc::Subsystem("Collector") {
+  // Put everything to the LiveWindow for testing.
+  AddChild("Roller Motor", m_rollerMotor);
+  AddChild("Ball Detector", m_ballDetector);
+  AddChild("Claw Open Detector", m_openDetector);
+  AddChild("Piston", m_piston);
 }
 
 bool Collector::HasBall() {
-	return m_ballDetector.Get();  // TODO: prepend ! to reflect real robot
+  return m_ballDetector.Get();  // TODO: prepend ! to reflect real robot
 }
 
-void Collector::SetSpeed(double speed) {
-	m_rollerMotor.Set(-speed);
-}
+void Collector::SetSpeed(double speed) { m_rollerMotor.Set(-speed); }
 
-void Collector::Stop() {
-	m_rollerMotor.Set(0);
-}
+void Collector::Stop() { m_rollerMotor.Set(0); }
 
 bool Collector::IsOpen() {
-	return m_openDetector.Get();  // TODO: prepend ! to reflect real robot
+  return m_openDetector.Get();  // TODO: prepend ! to reflect real robot
 }
 
-void Collector::Open() {
-	m_piston.Set(true);
-}
+void Collector::Open() { m_piston.Set(true); }
 
-void Collector::Close() {
-	m_piston.Set(false);
-}
+void Collector::Close() { m_piston.Set(false); }
 
 void Collector::InitDefaultCommand() {}

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Collector.h

@@ -19,58 +19,58 @@
  * check if the piston is open.
  */
 class Collector : public frc::Subsystem {
-public:
-	// Constants for some useful speeds
-	static constexpr double kForward = 1;
-	static constexpr double kStop = 0;
-	static constexpr double kReverse = -1;
+ public:
+  // Constants for some useful speeds
+  static constexpr double kForward = 1;
+  static constexpr double kStop = 0;
+  static constexpr double kReverse = -1;
 
-	Collector();
+  Collector();
 
-	/**
-	 * NOTE: The current simulation model uses the the lower part of the
-	 * claw
-	 * since the limit switch wasn't exported. At some point, this will be
-	 * updated.
-	 *
-	 * @return Whether or not the robot has the ball.
-	 */
-	bool HasBall();
+  /**
+   * NOTE: The current simulation model uses the the lower part of the
+   * claw
+   * since the limit switch wasn't exported. At some point, this will be
+   * updated.
+   *
+   * @return Whether or not the robot has the ball.
+   */
+  bool HasBall();
 
-	/**
-	 * @param speed The speed to spin the rollers.
-	 */
-	void SetSpeed(double speed);
+  /**
+   * @param speed The speed to spin the rollers.
+   */
+  void SetSpeed(double speed);
 
-	/**
-	 * Stop the rollers from spinning
-	 */
-	void Stop();
+  /**
+   * Stop the rollers from spinning
+   */
+  void Stop();
 
-	/**
-	 * @return Whether or not the claw is open.
-	 */
-	bool IsOpen();
+  /**
+   * @return Whether or not the claw is open.
+   */
+  bool IsOpen();
 
-	/**
-	 * Open the claw up. (For shooting)
-	 */
-	void Open();
+  /**
+   * Open the claw up. (For shooting)
+   */
+  void Open();
 
-	/**
-	 * Close the claw. (For collecting and driving)
-	 */
-	void Close();
+  /**
+   * Close the claw. (For collecting and driving)
+   */
+  void Close();
 
-	/**
-	 * No default command.
-	 */
-	void InitDefaultCommand() override;
+  /**
+   * No default command.
+   */
+  void InitDefaultCommand() override;
 
-private:
-	// Subsystem devices
-	frc::Spark m_rollerMotor{6};
-	frc::DigitalInput m_ballDetector{10};
-	frc::Solenoid m_piston{1};
-	frc::DigitalInput m_openDetector{6};
+ private:
+  // Subsystem devices
+  frc::Spark m_rollerMotor{6};
+  frc::DigitalInput m_ballDetector{10};
+  frc::Solenoid m_piston{1};
+  frc::DigitalInput m_openDetector{6};
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/DriveTrain.cpp

@@ -13,67 +13,58 @@
 
 #include "../Commands/DriveWithJoystick.h"
 
-DriveTrain::DriveTrain()
-    : frc::Subsystem("DriveTrain") {
-	// AddChild("Front Left CIM", m_frontLeftCIM);
-	// AddChild("Front Right CIM", m_frontRightCIM);
-	// AddChild("Back Left CIM", m_backLeftCIM);
-	// AddChild("Back Right CIM", m_backRightCIM);
+DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") {
+  // AddChild("Front Left CIM", m_frontLeftCIM);
+  // AddChild("Front Right CIM", m_frontRightCIM);
+  // AddChild("Back Left CIM", m_backLeftCIM);
+  // AddChild("Back Right CIM", m_backRightCIM);
 
-	// Configure the DifferentialDrive to reflect the fact that all our
-	// motors are wired backwards and our drivers sensitivity preferences.
-	m_robotDrive.SetSafetyEnabled(false);
-	m_robotDrive.SetExpiration(0.1);
-	m_robotDrive.SetMaxOutput(1.0);
-	m_leftCIMs.SetInverted(true);
-	m_rightCIMs.SetInverted(true);
+  // Configure the DifferentialDrive to reflect the fact that all our
+  // motors are wired backwards and our drivers sensitivity preferences.
+  m_robotDrive.SetSafetyEnabled(false);
+  m_robotDrive.SetExpiration(0.1);
+  m_robotDrive.SetMaxOutput(1.0);
+  m_leftCIMs.SetInverted(true);
+  m_rightCIMs.SetInverted(true);
 
-	// Configure encoders
-	m_rightEncoder.SetPIDSourceType(PIDSourceType::kDisplacement);
-	m_leftEncoder.SetPIDSourceType(PIDSourceType::kDisplacement);
+  // Configure encoders
+  m_rightEncoder.SetPIDSourceType(PIDSourceType::kDisplacement);
+  m_leftEncoder.SetPIDSourceType(PIDSourceType::kDisplacement);
 
 #ifndef SIMULATION
-	// Converts to feet
-	m_rightEncoder.SetDistancePerPulse(0.0785398);
-	m_leftEncoder.SetDistancePerPulse(0.0785398);
+  // Converts to feet
+  m_rightEncoder.SetDistancePerPulse(0.0785398);
+  m_leftEncoder.SetDistancePerPulse(0.0785398);
 #else
-	// Convert to feet 4in diameter wheels with 360 tick simulated encoders
-	m_rightEncoder.SetDistancePerPulse(
-			(4.0 /*in*/ * M_PI) / (360.0 * 12.0 /*in/ft*/));
-	m_leftEncoder.SetDistancePerPulse(
-			(4.0 /*in*/ * M_PI) / (360.0 * 12.0 /*in/ft*/));
+  // Convert to feet 4in diameter wheels with 360 tick simulated encoders
+  m_rightEncoder.SetDistancePerPulse((4.0 /*in*/ * M_PI) /
+                                     (360.0 * 12.0 /*in/ft*/));
+  m_leftEncoder.SetDistancePerPulse((4.0 /*in*/ * M_PI) /
+                                    (360.0 * 12.0 /*in/ft*/));
 #endif
 
-	AddChild("Right Encoder", m_rightEncoder);
-	AddChild("Left Encoder", m_leftEncoder);
+  AddChild("Right Encoder", m_rightEncoder);
+  AddChild("Left Encoder", m_leftEncoder);
 
 // Configure gyro
 #ifndef SIMULATION
-	m_gyro.SetSensitivity(0.007);  // TODO: Handle more gracefully?
+  m_gyro.SetSensitivity(0.007);  // TODO: Handle more gracefully?
 #endif
-	AddChild("Gyro", m_gyro);
+  AddChild("Gyro", m_gyro);
 }
 
 void DriveTrain::InitDefaultCommand() {
-	SetDefaultCommand(new DriveWithJoystick());
+  SetDefaultCommand(new DriveWithJoystick());
 }
 
 void DriveTrain::TankDrive(double leftAxis, double rightAxis) {
-	m_robotDrive.TankDrive(leftAxis, rightAxis);
+  m_robotDrive.TankDrive(leftAxis, rightAxis);
 }
 
-void DriveTrain::Stop() {
-	m_robotDrive.TankDrive(0.0, 0.0);
-}
+void DriveTrain::Stop() { m_robotDrive.TankDrive(0.0, 0.0); }
 
-Encoder& DriveTrain::GetLeftEncoder() {
-	return m_leftEncoder;
-}
+Encoder& DriveTrain::GetLeftEncoder() { return m_leftEncoder; }
 
-Encoder& DriveTrain::GetRightEncoder() {
-	return m_rightEncoder;
-}
+Encoder& DriveTrain::GetRightEncoder() { return m_rightEncoder; }
 
-double DriveTrain::GetAngle() {
-	return m_gyro.GetAngle();
-}
+double DriveTrain::GetAngle() { return m_gyro.GetAngle(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/DriveTrain.h

@@ -23,57 +23,57 @@ class Joystick;
  * information about it's speed and position.
  */
 class DriveTrain : public frc::Subsystem {
-public:
-	DriveTrain();
+ public:
+  DriveTrain();
 
-	/**
-	 * When other commands aren't using the drivetrain, allow tank drive
-	 * with
-	 * the joystick.
-	 */
-	void InitDefaultCommand();
+  /**
+   * When other commands aren't using the drivetrain, allow tank drive
+   * with
+   * the joystick.
+   */
+  void InitDefaultCommand();
 
-	/**
-	 * @param leftAxis Left sides value
-	 * @param rightAxis Right sides value
-	 */
-	void TankDrive(double leftAxis, double rightAxis);
+  /**
+   * @param leftAxis Left sides value
+   * @param rightAxis Right sides value
+   */
+  void TankDrive(double leftAxis, double rightAxis);
 
-	/**
-	 * Stop the drivetrain from moving.
-	 */
-	void Stop();
+  /**
+   * Stop the drivetrain from moving.
+   */
+  void Stop();
 
-	/**
-	 * @return The encoder getting the distance and speed of left side of
-	 * the drivetrain.
-	 */
-	Encoder& GetLeftEncoder();
+  /**
+   * @return The encoder getting the distance and speed of left side of
+   * the drivetrain.
+   */
+  Encoder& GetLeftEncoder();
 
-	/**
-	 * @return The encoder getting the distance and speed of right side of
-	 * the drivetrain.
-	 */
-	Encoder& GetRightEncoder();
+  /**
+   * @return The encoder getting the distance and speed of right side of
+   * the drivetrain.
+   */
+  Encoder& GetRightEncoder();
 
-	/**
-	 * @return The current angle of the drivetrain.
-	 */
-	double GetAngle();
+  /**
+   * @return The current angle of the drivetrain.
+   */
+  double GetAngle();
 
-private:
-	// Subsystem devices
-	frc::Spark m_frontLeftCIM{1};
-	frc::Spark m_rearLeftCIM{2};
-	frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};
+ private:
+  // Subsystem devices
+  frc::Spark m_frontLeftCIM{1};
+  frc::Spark m_rearLeftCIM{2};
+  frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};
 
-	frc::Spark m_frontRightCIM{3};
-	frc::Spark m_rearRightCIM{4};
-	frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};
+  frc::Spark m_frontRightCIM{3};
+  frc::Spark m_rearRightCIM{4};
+  frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};
 
-	frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs};
+  frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs};
 
-	frc::Encoder m_rightEncoder{1, 2, true, Encoder::k4X};
-	frc::Encoder m_leftEncoder{3, 4, false, Encoder::k4X};
-	frc::AnalogGyro m_gyro{0};
+  frc::Encoder m_rightEncoder{1, 2, true, Encoder::k4X};
+  frc::Encoder m_leftEncoder{3, 4, false, Encoder::k4X};
+  frc::AnalogGyro m_gyro{0};
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pivot.cpp

@@ -7,43 +7,36 @@
 
 #include "Pivot.h"
 
-Pivot::Pivot()
-    : frc::PIDSubsystem("Pivot", 7.0, 0.0, 8.0) {
-	SetAbsoluteTolerance(0.005);
-	GetPIDController()->SetContinuous(false);
+Pivot::Pivot() : frc::PIDSubsystem("Pivot", 7.0, 0.0, 8.0) {
+  SetAbsoluteTolerance(0.005);
+  GetPIDController()->SetContinuous(false);
 #ifdef SIMULATION
-	// PID is different in simulation.
-	GetPIDController()->SetPID(0.5, 0.001, 2);
-	SetAbsoluteTolerance(5);
+  // PID is different in simulation.
+  GetPIDController()->SetPID(0.5, 0.001, 2);
+  SetAbsoluteTolerance(5);
 #endif
 
-	// Put everything to the LiveWindow for testing.
-	AddChild("Upper Limit Switch", m_upperLimitSwitch);
-	AddChild("Lower Limit Switch", m_lowerLimitSwitch);
-	AddChild("Pot", m_pot);
-	AddChild("Motor", m_motor);
+  // Put everything to the LiveWindow for testing.
+  AddChild("Upper Limit Switch", m_upperLimitSwitch);
+  AddChild("Lower Limit Switch", m_lowerLimitSwitch);
+  AddChild("Pot", m_pot);
+  AddChild("Motor", m_motor);
 }
 
 void InitDefaultCommand() {}
 
-double Pivot::ReturnPIDInput() {
-	return m_pot.Get();
-}
+double Pivot::ReturnPIDInput() { return m_pot.Get(); }
 
-void Pivot::UsePIDOutput(double output) {
-	m_motor.PIDWrite(output);
-}
+void Pivot::UsePIDOutput(double output) { m_motor.PIDWrite(output); }
 
 bool Pivot::IsAtUpperLimit() {
-	return m_upperLimitSwitch.Get();  // TODO: inverted from real robot
-					  // (prefix with !)
+  return m_upperLimitSwitch.Get();  // TODO: inverted from real robot
+                                    // (prefix with !)
 }
 
 bool Pivot::IsAtLowerLimit() {
-	return m_lowerLimitSwitch.Get();  // TODO: inverted from real robot
-					  // (prefix with !)
+  return m_lowerLimitSwitch.Get();  // TODO: inverted from real robot
+                                    // (prefix with !)
 }
 
-double Pivot::GetAngle() {
-	return m_pot.Get();
-}
+double Pivot::GetAngle() { return m_pot.Get(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pivot.h

@@ -17,58 +17,58 @@
  * of angle of the pivot and claw.
  */
 class Pivot : public frc::PIDSubsystem {
-public:
-	// Constants for some useful angles
-	static constexpr double kCollect = 105;
-	static constexpr double kLowGoal = 90;
-	static constexpr double kShoot = 45;
-	static constexpr double kShootNear = 30;
+ public:
+  // Constants for some useful angles
+  static constexpr double kCollect = 105;
+  static constexpr double kLowGoal = 90;
+  static constexpr double kShoot = 45;
+  static constexpr double kShootNear = 30;
 
-	Pivot();
+  Pivot();
 
-	/**
-	 *  No default command, if PID is enabled, the current setpoint will be
-	 * maintained.
-	 */
-	void InitDefaultCommand() override {}
+  /**
+   *  No default command, if PID is enabled, the current setpoint will be
+   * maintained.
+   */
+  void InitDefaultCommand() override {}
 
-	/**
-	 * @return The angle read in by the potentiometer
-	 */
-	double ReturnPIDInput() override;
+  /**
+   * @return The angle read in by the potentiometer
+   */
+  double ReturnPIDInput() override;
 
-	/**
-	 * Set the motor speed based off of the PID output
-	 */
-	void UsePIDOutput(double output) override;
+  /**
+   * Set the motor speed based off of the PID output
+   */
+  void UsePIDOutput(double output) override;
 
-	/**
-	 * @return If the pivot is at its upper limit.
-	 */
-	bool IsAtUpperLimit();
+  /**
+   * @return If the pivot is at its upper limit.
+   */
+  bool IsAtUpperLimit();
 
-	/**
-	 * @return If the pivot is at its lower limit.
-	 */
-	bool IsAtLowerLimit();
+  /**
+   * @return If the pivot is at its lower limit.
+   */
+  bool IsAtLowerLimit();
 
-	/**
-	 * @return The current angle of the pivot.
-	 */
-	double GetAngle();
+  /**
+   * @return The current angle of the pivot.
+   */
+  double GetAngle();
 
-private:
-	// Subsystem devices
+ private:
+  // Subsystem devices
 
-	// Sensors for measuring the position of the pivot
-	frc::DigitalInput m_upperLimitSwitch{13};
-	frc::DigitalInput m_lowerLimitSwitch{12};
+  // Sensors for measuring the position of the pivot
+  frc::DigitalInput m_upperLimitSwitch{13};
+  frc::DigitalInput m_lowerLimitSwitch{12};
 
-	/* 0 degrees is vertical facing up.
-	 * Angle increases the more forward the pivot goes.
-	 */
-	frc::AnalogPotentiometer m_pot{1};
+  /* 0 degrees is vertical facing up.
+   * Angle increases the more forward the pivot goes.
+   */
+  frc::AnalogPotentiometer m_pot{1};
 
-	// Motor to move the pivot
-	frc::Spark m_motor{5};
+  // Motor to move the pivot
+  frc::Spark m_motor{5};
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pneumatics.cpp

@@ -9,9 +9,8 @@
 
 #include <SmartDashboard/SmartDashboard.h>
 
-Pneumatics::Pneumatics()
-    : frc::Subsystem("Pneumatics") {
-	AddChild("Pressure Sensor", m_pressureSensor);
+Pneumatics::Pneumatics() : frc::Subsystem("Pneumatics") {
+  AddChild("Pressure Sensor", m_pressureSensor);
 }
 
 /**
@@ -25,7 +24,7 @@ void Pneumatics::InitDefaultCommand() {}
  */
 void Pneumatics::Start() {
 #ifndef SIMULATION
-	m_compressor.Start();
+  m_compressor.Start();
 #endif
 }
 
@@ -34,9 +33,9 @@ void Pneumatics::Start() {
  */
 bool Pneumatics::IsPressurized() {
 #ifndef SIMULATION
-	return kMaxPressure <= m_pressureSensor.GetVoltage();
+  return kMaxPressure <= m_pressureSensor.GetVoltage();
 #else
-	return true;  // NOTE: Simulation always has full pressure
+  return true;  // NOTE: Simulation always has full pressure
 #endif
 }
 
@@ -44,6 +43,5 @@ bool Pneumatics::IsPressurized() {
  * Puts the pressure on the SmartDashboard.
  */
 void Pneumatics::WritePressure() {
-	frc::SmartDashboard::PutNumber(
-			"Pressure", m_pressureSensor.GetVoltage());
+  frc::SmartDashboard::PutNumber("Pressure", m_pressureSensor.GetVoltage());
 }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pneumatics.h

@@ -18,36 +18,36 @@
  * sensors.
  */
 class Pneumatics : public frc::Subsystem {
-public:
-	Pneumatics();
+ public:
+  Pneumatics();
 
-	/**
-	 * No default command
-	 */
-	void InitDefaultCommand() override;
+  /**
+   * No default command
+   */
+  void InitDefaultCommand() override;
 
-	/**
-	 * Start the compressor going. The compressor automatically starts and
-	 * stops as it goes above and below maximum pressure.
-	 */
-	void Start();
+  /**
+   * Start the compressor going. The compressor automatically starts and
+   * stops as it goes above and below maximum pressure.
+   */
+  void Start();
 
-	/**
-	 * @return Whether or not the system is fully pressurized.
-	 */
-	bool IsPressurized();
+  /**
+   * @return Whether or not the system is fully pressurized.
+   */
+  bool IsPressurized();
 
-	/**
-	 * Puts the pressure on the SmartDashboard.
-	 */
-	void WritePressure();
+  /**
+   * Puts the pressure on the SmartDashboard.
+   */
+  void WritePressure();
 
-private:
-	frc::AnalogInput m_pressureSensor{3};
+ private:
+  frc::AnalogInput m_pressureSensor{3};
 
 #ifndef SIMULATION
-	frc::Compressor m_compressor{1};  // TODO: (1, 14, 1, 8);
+  frc::Compressor m_compressor{1};  // TODO: (1, 14, 1, 8);
 #endif
 
-	static constexpr double kMaxPressure = 2.55;
+  static constexpr double kMaxPressure = 2.55;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Shooter.cpp

@@ -7,79 +7,54 @@
 
 #include "Shooter.h"
 
-Shooter::Shooter()
-    : Subsystem("Shooter") {
-	// Put everything to the LiveWindow for testing.
-	AddChild("Hot Goal Sensor", m_hotGoalSensor);
-	AddChild("Piston1 Reed Switch Front ", m_piston1ReedSwitchFront);
-	AddChild("Piston1 Reed Switch Back ", m_piston1ReedSwitchBack);
-	AddChild("Latch Piston", m_latchPiston);
+Shooter::Shooter() : Subsystem("Shooter") {
+  // Put everything to the LiveWindow for testing.
+  AddChild("Hot Goal Sensor", m_hotGoalSensor);
+  AddChild("Piston1 Reed Switch Front ", m_piston1ReedSwitchFront);
+  AddChild("Piston1 Reed Switch Back ", m_piston1ReedSwitchBack);
+  AddChild("Latch Piston", m_latchPiston);
 }
 
 void Shooter::InitDefaultCommand() {
-	// Set the default command for a subsystem here.
-	// SetDefaultCommand(new MySpecialCommand());
+  // Set the default command for a subsystem here.
+  // SetDefaultCommand(new MySpecialCommand());
 }
 
 void Shooter::ExtendBoth() {
-	m_piston1.Set(frc::DoubleSolenoid::kForward);
-	m_piston2.Set(frc::DoubleSolenoid::kForward);
+  m_piston1.Set(frc::DoubleSolenoid::kForward);
+  m_piston2.Set(frc::DoubleSolenoid::kForward);
 }
 
 void Shooter::RetractBoth() {
-	m_piston1.Set(frc::DoubleSolenoid::kReverse);
-	m_piston2.Set(frc::DoubleSolenoid::kReverse);
+  m_piston1.Set(frc::DoubleSolenoid::kReverse);
+  m_piston2.Set(frc::DoubleSolenoid::kReverse);
 }
 
-void Shooter::Extend1() {
-	m_piston1.Set(frc::DoubleSolenoid::kForward);
-}
+void Shooter::Extend1() { m_piston1.Set(frc::DoubleSolenoid::kForward); }
 
-void Shooter::Retract1() {
-	m_piston1.Set(frc::DoubleSolenoid::kReverse);
-}
+void Shooter::Retract1() { m_piston1.Set(frc::DoubleSolenoid::kReverse); }
 
-void Shooter::Extend2() {
-	m_piston2.Set(frc::DoubleSolenoid::kReverse);
-}
+void Shooter::Extend2() { m_piston2.Set(frc::DoubleSolenoid::kReverse); }
 
-void Shooter::Retract2() {
-	m_piston2.Set(frc::DoubleSolenoid::kForward);
-}
+void Shooter::Retract2() { m_piston2.Set(frc::DoubleSolenoid::kForward); }
 
-void Shooter::Off1() {
-	m_piston1.Set(frc::DoubleSolenoid::kOff);
-}
+void Shooter::Off1() { m_piston1.Set(frc::DoubleSolenoid::kOff); }
 
-void Shooter::Off2() {
-	m_piston2.Set(frc::DoubleSolenoid::kOff);
-}
+void Shooter::Off2() { m_piston2.Set(frc::DoubleSolenoid::kOff); }
 
-void Shooter::Unlatch() {
-	m_latchPiston.Set(true);
-}
+void Shooter::Unlatch() { m_latchPiston.Set(true); }
 
-void Shooter::Latch() {
-	m_latchPiston.Set(false);
-}
+void Shooter::Latch() { m_latchPiston.Set(false); }
 
-void Shooter::ToggleLatchPosition() {
-	m_latchPiston.Set(!m_latchPiston.Get());
-}
+void Shooter::ToggleLatchPosition() { m_latchPiston.Set(!m_latchPiston.Get()); }
 
-bool Shooter::Piston1IsExtended() {
-	return !m_piston1ReedSwitchFront.Get();
-}
+bool Shooter::Piston1IsExtended() { return !m_piston1ReedSwitchFront.Get(); }
 
-bool Shooter::Piston1IsRetracted() {
-	return !m_piston1ReedSwitchBack.Get();
-}
+bool Shooter::Piston1IsRetracted() { return !m_piston1ReedSwitchBack.Get(); }
 
 void Shooter::OffBoth() {
-	m_piston1.Set(frc::DoubleSolenoid::kOff);
-	m_piston2.Set(frc::DoubleSolenoid::kOff);
+  m_piston1.Set(frc::DoubleSolenoid::kOff);
+  m_piston2.Set(frc::DoubleSolenoid::kOff);
 }
 
-bool Shooter::GoalIsHot() {
-	return m_hotGoalSensor.Get();
-}
+bool Shooter::GoalIsHot() { return m_hotGoalSensor.Get(); }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Shooter.h

@@ -23,105 +23,105 @@
  * and ignores the latch.
  */
 class Shooter : public frc::Subsystem {
-public:
-	Shooter();
-	void InitDefaultCommand() override;
+ public:
+  Shooter();
+  void InitDefaultCommand() override;
 
-	/**
-	 * Extend both solenoids to shoot.
-	 */
-	void ExtendBoth();
+  /**
+   * Extend both solenoids to shoot.
+   */
+  void ExtendBoth();
 
-	/**
-	 * Retract both solenoids to prepare to shoot.
-	 */
-	void RetractBoth();
+  /**
+   * Retract both solenoids to prepare to shoot.
+   */
+  void RetractBoth();
 
-	/**
-	 * Extend solenoid 1 to shoot.
-	 */
-	void Extend1();
+  /**
+   * Extend solenoid 1 to shoot.
+   */
+  void Extend1();
 
-	/**
-	 * Retract solenoid 1 to prepare to shoot.
-	 */
-	void Retract1();
+  /**
+   * Retract solenoid 1 to prepare to shoot.
+   */
+  void Retract1();
 
-	/**
-	 * Extend solenoid 2 to shoot.
-	 */
-	void Extend2();
+  /**
+   * Extend solenoid 2 to shoot.
+   */
+  void Extend2();
 
-	/**
-	 * Retract solenoid 2 to prepare to shoot.
-	 */
-	void Retract2();
+  /**
+   * Retract solenoid 2 to prepare to shoot.
+   */
+  void Retract2();
 
-	/**
-	 * Turns off the piston1 double solenoid. This won't actuate anything
-	 * because double solenoids preserve their state when turned off. This
-	 * should be called in order to reduce the amount of time that the coils
-	 * are
-	 * powered.
-	 */
-	void Off1();
+  /**
+   * Turns off the piston1 double solenoid. This won't actuate anything
+   * because double solenoids preserve their state when turned off. This
+   * should be called in order to reduce the amount of time that the coils
+   * are
+   * powered.
+   */
+  void Off1();
 
-	/**
-	 * Turns off the piston1 double solenoid. This won't actuate anything
-	 * because double solenoids preserve their state when turned off. This
-	 * should be called in order to reduce the amount of time that the coils
-	 * are
-	 * powered.
-	 */
-	void Off2();
+  /**
+   * Turns off the piston1 double solenoid. This won't actuate anything
+   * because double solenoids preserve their state when turned off. This
+   * should be called in order to reduce the amount of time that the coils
+   * are
+   * powered.
+   */
+  void Off2();
 
-	/**
-	 * Release the latch so that we can shoot
-	 */
-	void Unlatch();
+  /**
+   * Release the latch so that we can shoot
+   */
+  void Unlatch();
 
-	/**
-	 * Latch so that pressure can build up and we aren't limited by air
-	 * flow.
-	 */
-	void Latch();
+  /**
+   * Latch so that pressure can build up and we aren't limited by air
+   * flow.
+   */
+  void Latch();
 
-	/**
-	 * Toggles the latch postions
-	 */
-	void ToggleLatchPosition();
+  /**
+   * Toggles the latch postions
+   */
+  void ToggleLatchPosition();
 
-	/**
-	 * @return Whether or not piston 1 is fully extended.
-	 */
-	bool Piston1IsExtended();
+  /**
+   * @return Whether or not piston 1 is fully extended.
+   */
+  bool Piston1IsExtended();
 
-	/**
-	 * @return Whether or not piston 1 is fully retracted.
-	 */
-	bool Piston1IsRetracted();
+  /**
+   * @return Whether or not piston 1 is fully retracted.
+   */
+  bool Piston1IsRetracted();
 
-	/**
-	 * Turns off all double solenoids. Double solenoids hold their position
-	 * when
-	 * they are turned off. We should turn them off whenever possible to
-	 * extend
-	 * the life of the coils
-	 */
-	void OffBoth();
+  /**
+   * Turns off all double solenoids. Double solenoids hold their position
+   * when
+   * they are turned off. We should turn them off whenever possible to
+   * extend
+   * the life of the coils
+   */
+  void OffBoth();
 
-	/**
-	 * @return Whether or not the goal is hot as read by the banner sensor
-	 */
-	bool GoalIsHot();
+  /**
+   * @return Whether or not the goal is hot as read by the banner sensor
+   */
+  bool GoalIsHot();
 
-private:
-	// Devices
-	frc::DoubleSolenoid m_piston1{3, 4};
-	frc::DoubleSolenoid m_piston2{5, 6};
-	frc::Solenoid m_latchPiston{1, 2};
-	frc::DigitalInput m_piston1ReedSwitchFront{9};
-	frc::DigitalInput m_piston1ReedSwitchBack{11};
-	frc::DigitalInput m_hotGoalSensor{
-			7};  // NOTE: Currently ignored in simulation
+ private:
+  // Devices
+  frc::DoubleSolenoid m_piston1{3, 4};
+  frc::DoubleSolenoid m_piston2{5, 6};
+  frc::Solenoid m_latchPiston{1, 2};
+  frc::DigitalInput m_piston1ReedSwitchFront{9};
+  frc::DigitalInput m_piston1ReedSwitchBack{11};
+  frc::DigitalInput m_hotGoalSensor{
+      7};  // NOTE: Currently ignored in simulation
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Triggers/DoubleButton.cpp

@@ -11,10 +11,10 @@
 
 DoubleButton::DoubleButton(frc::Joystick* joy, int button1, int button2)
     : m_joy(*joy) {
-	m_button1 = button1;
-	m_button2 = button2;
+  m_button1 = button1;
+  m_button2 = button2;
 }
 
 bool DoubleButton::Get() {
-	return m_joy.GetRawButton(m_button1) && m_joy.GetRawButton(m_button2);
+  return m_joy.GetRawButton(m_button1) && m_joy.GetRawButton(m_button2);
 }

wpilibcExamples/src/main/cpp/examples/PacGoat/src/Triggers/DoubleButton.h

@@ -14,13 +14,13 @@ class Joystick;
 }  // namespace frc
 
 class DoubleButton : public frc::Trigger {
-public:
-	DoubleButton(frc::Joystick* joy, int button1, int button2);
+ public:
+  DoubleButton(frc::Joystick* joy, int button1, int button2);
 
-	bool Get();
+  bool Get();
 
-private:
-	frc::Joystick& m_joy;
-	int m_button1;
-	int m_button2;
+ private:
+  frc::Joystick& m_joy;
+  int m_button1;
+  int m_button2;
 };

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

@@ -19,62 +19,56 @@
  * mechanism.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	void RobotInit() override { m_pidController.SetInputRange(0, 5); }
+ public:
+  void RobotInit() override { m_pidController.SetInputRange(0, 5); }
 
-	void TeleopInit() override { m_pidController.Enable(); }
+  void TeleopInit() override { m_pidController.Enable(); }
 
-	void TeleopPeriodic() override {
-		// when the button is pressed once, the selected elevator
-		// setpoint
-		// is incremented
-		bool currentButtonValue = m_joystick.GetTrigger();
-		if (currentButtonValue && !m_previousButtonValue) {
-			// index of the elevator setpoint wraps around.
-			m_index = (m_index + 1) % (sizeof(kSetPoints) / 8);
-		}
-		m_previousButtonValue = currentButtonValue;
+  void TeleopPeriodic() override {
+    // When the button is pressed once, the selected elevator setpoint is
+    // incremented.
+    bool currentButtonValue = m_joystick.GetTrigger();
+    if (currentButtonValue && !m_previousButtonValue) {
+      // Index of the elevator setpoint wraps around
+      m_index = (m_index + 1) % (sizeof(kSetPoints) / 8);
+    }
+    m_previousButtonValue = currentButtonValue;
 
-		m_pidController.SetSetpoint(kSetPoints[m_index]);
-	}
+    m_pidController.SetSetpoint(kSetPoints[m_index]);
+  }
 
-private:
-	static constexpr int kPotChannel = 1;
-	static constexpr int kMotorChannel = 7;
-	static constexpr int kJoystickChannel = 0;
+ private:
+  static constexpr int kPotChannel = 1;
+  static constexpr int kMotorChannel = 7;
+  static constexpr int kJoystickChannel = 0;
 
-	// Bottom, middle, and top elevator setpoints
-	static constexpr std::array<double, 3> kSetPoints = {{1.0, 2.6, 4.3}};
+  // Bottom, middle, and top elevator setpoints
+  static constexpr std::array<double, 3> kSetPoints = {{1.0, 2.6, 4.3}};
 
-	/* proportional, integral, and derivative speed constants; motor
-	 * inverted
-	 * DANGER: when tuning PID constants, high/inappropriate values for
-	 * pGain,
-	 * iGain, and dGain may cause dangerous, uncontrollable, or
-	 * undesired behavior!
-	 *
-	 * These may need to be positive for a non-inverted motor
-	 */
-	static constexpr double kP = -5.0;
-	static constexpr double kI = -0.02;
-	static constexpr double kD = -2.0;
+  /* Proportional, integral, and derivative speed constants; motor inverted.
+   *
+   * DANGER: When tuning PID constants, high/inappropriate values for pGain,
+   * iGain, and dGain may cause dangerous, uncontrollable, or undesired
+   * behavior!
+   *
+   * These may need to be positive for a non-inverted motor.
+   */
+  static constexpr double kP = -5.0;
+  static constexpr double kI = -0.02;
+  static constexpr double kD = -2.0;
 
-	int m_index = 0;
-	bool m_previousButtonValue = false;
+  int m_index = 0;
+  bool m_previousButtonValue = false;
 
-	frc::AnalogInput m_potentiometer{kPotChannel};
-	frc::Joystick m_joystick{kJoystickChannel};
-	frc::Spark m_elevatorMotor{kMotorChannel};
+  frc::AnalogInput m_potentiometer{kPotChannel};
+  frc::Joystick m_joystick{kJoystickChannel};
+  frc::Spark m_elevatorMotor{kMotorChannel};
 
-	/* potentiometer (AnalogInput) and elevatorMotor (Victor) can be used as
-	 * a
-	 * PIDSource and PIDOutput respectively. The PIDController takes
-	 * pointers
-	 * to the PIDSource and PIDOutput, so you must use &potentiometer and
-	 * &elevatorMotor to get their pointers.
-	 */
-	frc::PIDController m_pidController{
-			kP, kI, kD, &m_potentiometer, &m_elevatorMotor};
+  /* Potentiometer (AnalogInput) and elevatorMotor (Victor) can be used as a
+   * PIDSource and PIDOutput respectively.
+   */
+  frc::PIDController m_pidController{kP, kI, kD, m_potentiometer,
+                                     m_elevatorMotor};
 };
 
 constexpr std::array<double, 3> Robot::kSetPoints;

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

@@ -11,21 +11,20 @@
 
 /**
  * Uses the CameraServer class to automatically capture video from a USB webcam
- * and send it to the FRC dashboard without doing any vision processing. This
- * is the easiest way to get camera images to the dashboard. Just add this to
- * the
+ * and send it to the FRC dashboard without doing any vision processing. This is
+ * the easiest way to get camera images to the dashboard. Just add this to the
  * RobotInit() method in your program.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	void RobotInit() override {
+ public:
+  void RobotInit() override {
 #if defined(__linux__)
-		CameraServer::GetInstance()->StartAutomaticCapture();
+    CameraServer::GetInstance()->StartAutomaticCapture();
 #else
-		wpi::errs() << "Vision only available on Linux.\n";
-		wpi::errs().flush();
+    wpi::errs() << "Vision only available on Linux.\n";
+    wpi::errs().flush();
 #endif
-	}
+  }
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -11,45 +11,48 @@
 
 /**
  * This is a sample program which uses joystick buttons to control a relay.
+ *
  * A Relay (generally a spike) has two outputs, each of which can be at either
- *   0V or 12V and so can be used for actions such as turning a motor off,
- *   full forwards, or full reverse, and is generally used on the compressor.
+ * 0V or 12V and so can be used for actions such as turning a motor off, full
+ * forwards, or full reverse, and is generally used on the compressor.
+ *
  * This program uses two buttons on a joystick and each button corresponds to
- *   one output; pressing the button sets the output to 12V and releasing sets
- *   it to 0V.
+ * one output; pressing the button sets the output to 12V and releasing sets it
+ * to 0V.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	void TeleopPeriodic() override {
-		/* Retrieve the button values. GetRawButton will return
-		 * true if the button is pressed and false if not.
-		 */
-		bool forward = m_stick.GetRawButton(kRelayForwardButton);
-		bool reverse = m_stick.GetRawButton(kRelayReverseButton);
+ public:
+  void TeleopPeriodic() override {
+    /* Retrieve the button values. GetRawButton() will return true if the button
+     * is pressed and false if not.
+     */
+    bool forward = m_stick.GetRawButton(kRelayForwardButton);
+    bool reverse = m_stick.GetRawButton(kRelayReverseButton);
 
-		/* Depending on the button values, we want to use one of
-		 *   kOn, kOff, kForward, or kReverse.
-		 * kOn sets both outputs to 12V, kOff sets both to 0V,
-		 * kForward sets forward to 12V and reverse to 0V, and
-		 * kReverse sets reverse to 12V and forward to 0V.
-		 */
-		if (forward && reverse) {
-			m_relay.Set(Relay::kOn);
-		} else if (forward) {
-			m_relay.Set(Relay::kForward);
-		} else if (reverse) {
-			m_relay.Set(Relay::kReverse);
-		} else {
-			m_relay.Set(Relay::kOff);
-		}
-	}
+    /* Depending on the button values, we want to use one of kOn, kOff,
+     * kForward, or kReverse.
+     *
+     * kOn sets both outputs to 12V, kOff sets both to 0V.
+     * kForward sets forward to 12V and reverse to 0V.
+     * kReverse sets reverse to 12V and forward to 0V.
+     */
+    if (forward && reverse) {
+      m_relay.Set(Relay::kOn);
+    } else if (forward) {
+      m_relay.Set(Relay::kForward);
+    } else if (reverse) {
+      m_relay.Set(Relay::kReverse);
+    } else {
+      m_relay.Set(Relay::kOff);
+    }
+  }
 
-private:
-	frc::Joystick m_stick{0};
-	frc::Relay m_relay{0};
+ private:
+  frc::Joystick m_stick{0};
+  frc::Relay m_relay{0};
 
-	static constexpr int kRelayForwardButton = 1;
-	static constexpr int kRelayReverseButton = 2;
+  static constexpr int kRelayForwardButton = 1;
+  static constexpr int kRelayReverseButton = 2;
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -12,56 +12,59 @@
 
 /**
  * This is a sample program showing the use of the solenoid classes during
- *   operator control.
- * Three buttons from a joystick will be used to control two solenoids:
- *   One button to control the position of a single solenoid and the other
- *   two buttons to control a double solenoid.
+ * operator control.
+ *
+ * Three buttons from a joystick will be used to control two solenoids: One
+ * button to control the position of a single solenoid and the other two buttons
+ * to control a double solenoid.
+ *
  * Single solenoids can either be on or off, such that the air diverted through
- *   them goes through either one channel or the other.
+ * them goes through either one channel or the other.
+ *
  * Double solenoids have three states: Off, Forward, and Reverse. Forward and
- *   Reverse divert the air through the two channels and correspond to the
- *   on and off of a single solenoid, but a double solenoid can also be "off",
- *   where both channels are diverted to exhaust such that there is no pressure
- *   in either channel.
+ * Reverse divert the air through the two channels and correspond to the on and
+ * off of a single solenoid, but a double solenoid can also be "off", where both
+ * channels are diverted to exhaust such that there is no pressure in either
+ * channel.
+ *
  * Additionally, double solenoids take up two channels on your PCM whereas
- *   single solenoids only take a single channel.
+ * single solenoids only take a single channel.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	void TeleopPeriodic() override {
-		/* The output of GetRawButton is true/false depending on whether
-		 * the button is pressed; Set takes a boolean for for whether to
-		 * use the default (false) channel or the other (true).
-		 */
-		m_solenoid.Set(m_stick.GetRawButton(kSolenoidButton));
+ public:
+  void TeleopPeriodic() override {
+    /* The output of GetRawButton is true/false depending on whether the button
+     * is pressed; Set takes a boolean for for whether to use the default
+     * (false) channel or the other (true).
+     */
+    m_solenoid.Set(m_stick.GetRawButton(kSolenoidButton));
 
-		/* In order to set the double solenoid, we will say that if
-		 * neither
-		 * button is pressed, it is off, if just one button is pressed,
-		 * set the solenoid to correspond to that button, and if both
-		 * are pressed, set the solenoid to Forwards.
-		 */
-		if (m_stick.GetRawButton(kDoubleSolenoidForward)) {
-			m_doubleSolenoid.Set(frc::DoubleSolenoid::kForward);
-		} else if (m_stick.GetRawButton(kDoubleSolenoidReverse)) {
-			m_doubleSolenoid.Set(frc::DoubleSolenoid::kReverse);
-		} else {
-			m_doubleSolenoid.Set(frc::DoubleSolenoid::kOff);
-		}
-	}
+    /* In order to set the double solenoid, we will say that if neither button
+     * is pressed, it is off, if just one button is pressed, set the solenoid to
+     * correspond to that button, and if both are pressed, set the solenoid to
+     * Forwards.
+     */
+    if (m_stick.GetRawButton(kDoubleSolenoidForward)) {
+      m_doubleSolenoid.Set(frc::DoubleSolenoid::kForward);
+    } else if (m_stick.GetRawButton(kDoubleSolenoidReverse)) {
+      m_doubleSolenoid.Set(frc::DoubleSolenoid::kReverse);
+    } else {
+      m_doubleSolenoid.Set(frc::DoubleSolenoid::kOff);
+    }
+  }
 
-private:
-	frc::Joystick m_stick{0};
+ private:
+  frc::Joystick m_stick{0};
 
-	// Solenoid corresponds to a single solenoid.
-	frc::Solenoid m_solenoid{0};
+  // Solenoid corresponds to a single solenoid.
+  frc::Solenoid m_solenoid{0};
 
-	// DoubleSolenoid corresponds to a double solenoid.
-	frc::DoubleSolenoid m_doubleSolenoid{1, 2};
+  // DoubleSolenoid corresponds to a double solenoid.
+  frc::DoubleSolenoid m_doubleSolenoid{1, 2};
 
-	static constexpr int kSolenoidButton = 1;
-	static constexpr int kDoubleSolenoidForward = 2;
-	static constexpr int kDoubleSolenoidReverse = 3;
+  static constexpr int kSolenoidButton = 1;
+  static constexpr int kDoubleSolenoidForward = 2;
+  static constexpr int kDoubleSolenoidReverse = 3;
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -15,40 +15,39 @@
  * proportional control to maintain a set distance from an object.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	/**
-	 * Tells the robot to drive to a set distance (in inches) from an object
-	 * using proportional control.
-	 */
-	void TeleopPeriodic() override {
-		// sensor returns a value from 0-4095 that is scaled to inches
-		double currentDistance =
-				m_ultrasonic.GetValue() * kValueToInches;
-		// convert distance error to a motor speed
-		double currentSpeed = (kHoldDistance - currentDistance) * kP;
-		// drive robot
-		m_robotDrive.ArcadeDrive(currentSpeed, 0);
-	}
+ public:
+  /**
+   * Tells the robot to drive to a set distance (in inches) from an object using
+   * proportional control.
+   */
+  void TeleopPeriodic() override {
+    // Sensor returns a value from 0-4095 that is scaled to inches
+    double currentDistance = m_ultrasonic.GetValue() * kValueToInches;
+    // Convert distance error to a motor speed
+    double currentSpeed = (kHoldDistance - currentDistance) * kP;
+    // Drive robot
+    m_robotDrive.ArcadeDrive(currentSpeed, 0);
+  }
 
-private:
-	// Distance in inches the robot wants to stay from an object
-	static constexpr int kHoldDistance = 12;
+ private:
+  // Distance in inches the robot wants to stay from an object
+  static constexpr int kHoldDistance = 12;
 
-	// Factor to convert sensor values to a distance in inches
-	static constexpr double kValueToInches = 0.125;
+  // Factor to convert sensor values to a distance in inches
+  static constexpr double kValueToInches = 0.125;
 
-	// Proportional speed constant
-	static constexpr double kP = 0.05;
+  // Proportional speed constant
+  static constexpr double kP = 0.05;
 
-	static constexpr int kLeftMotorPort = 0;
-	static constexpr int kRightMotorPort = 1;
-	static constexpr int kUltrasonicPort = 0;
+  static constexpr int kLeftMotorPort = 0;
+  static constexpr int kRightMotorPort = 1;
+  static constexpr int kUltrasonicPort = 0;
 
-	frc::AnalogInput m_ultrasonic{kUltrasonicPort};
+  frc::AnalogInput m_ultrasonic{kUltrasonicPort};
 
-	frc::Spark m_left{kLeftMotorPort};
-	frc::Spark m_right{kRightMotorPort};
-	frc::DifferentialDrive m_robotDrive{m_left, m_right};
+  frc::Spark m_left{kLeftMotorPort};
+  frc::Spark m_right{kRightMotorPort};
+  frc::DifferentialDrive m_robotDrive{m_left, m_right};
 };
 
 START_ROBOT_CLASS(Robot)

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

@@ -17,70 +17,67 @@
  * proportional control to maintain a set distance from an object.
  */
 class Robot : public frc::IterativeRobot {
-public:
-	/**
-	 * Drives the robot a set distance from an object using PID control and
-	 * the
-	 * ultrasonic sensor.
-	 */
-	void TeleopInit() override {
-		// Set expected range to 0-24 inches; e.g. at 24 inches from
-		// object go
-		// full forward, at 0 inches from object go full backward.
-		m_pidController.SetInputRange(0, 24 * kValueToInches);
+ public:
+  /**
+   * Drives the robot a set distance from an object using PID control and the
+   * ultrasonic sensor.
+   */
+  void TeleopInit() override {
+    // Set expected range to 0-24 inches; e.g. at 24 inches from object go full
+    // forward, at 0 inches from object go full backward.
+    m_pidController.SetInputRange(0, 24 * kValueToInches);
 
-		// Set setpoint of the pidController
-		m_pidController.SetSetpoint(kHoldDistance * kValueToInches);
+    // Set setpoint of the PID Controller
+    m_pidController.SetSetpoint(kHoldDistance * kValueToInches);
 
-		// Begin PID control
-		m_pidController.Enable();
-	}
+    // Begin PID control
+    m_pidController.Enable();
+  }
 
-private:
-	// Internal class to write to robot drive using a PIDOutput
-	class MyPIDOutput : public frc::PIDOutput {
-	public:
-		explicit MyPIDOutput(frc::DifferentialDrive& r)
-		    : m_rd(r) {
-			m_rd.SetSafetyEnabled(false);
-		}
+ private:
+  // Internal class to write to robot drive using a PIDOutput
+  class MyPIDOutput : public frc::PIDOutput {
+   public:
+    explicit MyPIDOutput(frc::DifferentialDrive& r) : m_rd(r) {
+      m_rd.SetSafetyEnabled(false);
+    }
 
-		void PIDWrite(double output) override {
-			// Write to robot drive by reference
-			m_rd.ArcadeDrive(output, 0);
-		}
+    void PIDWrite(double output) override {
+      // Write to robot drive by reference
+      m_rd.ArcadeDrive(output, 0);
+    }
 
-	private:
-		frc::DifferentialDrive& m_rd;
-	};
+   private:
+    frc::DifferentialDrive& m_rd;
+  };
 
-	// Distance in inches the robot wants to stay from an object
-	static constexpr int kHoldDistance = 12;
+  // Distance in inches the robot wants to stay from an object
+  static constexpr int kHoldDistance = 12;
 
-	// Factor to convert sensor values to a distance in inches
-	static constexpr double kValueToInches = 0.125;
+  // Factor to convert sensor values to a distance in inches
+  static constexpr double kValueToInches = 0.125;
 
-	// proportional speed constant
-	static constexpr double kP = 7.0;
+  // proportional speed constant
+  static constexpr double kP = 7.0;
 
-	// integral speed constant
-	static constexpr double kI = 0.018;
+  // integral speed constant
+  static constexpr double kI = 0.018;
 
-	// derivative speed constant
-	static constexpr double kD = 1.5;
+  // derivative speed constant
+  static constexpr double kD = 1.5;
 
-	static constexpr int kLeftMotorPort = 0;
-	static constexpr int kRightMotorPort = 1;
-	static constexpr int kUltrasonicPort = 0;
+  static constexpr int kLeftMotorPort = 0;
+  static constexpr int kRightMotorPort = 1;
+  static constexpr int kUltrasonicPort = 0;
 
-	frc::AnalogInput m_ultrasonic{kUltrasonicPort};
+  frc::AnalogInput m_ultrasonic{kUltrasonicPort};
 
-	frc::Spark m_left{kLeftMotorPort};
-	frc::Spark m_right{kRightMotorPort};
-	frc::DifferentialDrive m_robotDrive{m_left, m_right};
+  frc::Spark m_left{kLeftMotorPort};
+  frc::Spark m_right{kRightMotorPort};
+  frc::DifferentialDrive m_robotDrive{m_left, m_right};
+  MyPIDOutput m_pidOutput{m_robotDrive};
 
-	frc::PIDController m_pidController{kP, kI, kD, &m_ultrasonic,
-			new MyPIDOutput(m_robotDrive)};
+  frc::PIDController m_pidController{kP, kI, kD, m_ultrasonic, m_pidOutput};
 };
 
 START_ROBOT_CLASS(Robot)