Run wpiformat on merged repo (#1021)

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;
 };