Run wpiformat on merged repo (#1021)

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;
 };