diff --git a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java index c79bd49cf1..05f8fab181 100644 --- a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java +++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTag.java @@ -6,10 +6,10 @@ package org.wpilib.vision.apriltag; import com.fasterxml.jackson.annotation.JsonCreator; import com.fasterxml.jackson.annotation.JsonProperty; -import org.wpilib.vision.apriltag.jni.AprilTagJNI; +import java.util.Objects; import org.wpilib.math.geometry.Pose3d; import org.wpilib.util.RawFrame; -import java.util.Objects; +import org.wpilib.vision.apriltag.jni.AprilTagJNI; /** Represents an AprilTag's metadata. */ @SuppressWarnings("MemberName") diff --git a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagDetection.java b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagDetection.java index 3db3b24c1b..919356f90c 100644 --- a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagDetection.java +++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagDetection.java @@ -4,11 +4,11 @@ package org.wpilib.vision.apriltag; +import java.util.Arrays; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.numbers.N3; -import java.util.Arrays; +import org.wpilib.math.util.Nat; /** A detection of an AprilTag tag. */ public class AprilTagDetection { diff --git a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagDetector.java b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagDetector.java index bc4b8fa2f7..6bba9cc671 100644 --- a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagDetector.java +++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagDetector.java @@ -4,8 +4,8 @@ package org.wpilib.vision.apriltag; -import org.wpilib.vision.apriltag.jni.AprilTagJNI; import org.opencv.core.Mat; +import org.wpilib.vision.apriltag.jni.AprilTagJNI; /** * An AprilTag detector engine. This is expensive to set up and tear down, so most use cases should diff --git a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java index fda76e007b..0c24a73962 100644 --- a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java +++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java @@ -10,9 +10,6 @@ import com.fasterxml.jackson.annotation.JsonIgnore; import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.fasterxml.jackson.annotation.JsonProperty; import com.fasterxml.jackson.databind.ObjectMapper; -import org.wpilib.math.geometry.Pose3d; -import org.wpilib.math.geometry.Rotation3d; -import org.wpilib.math.geometry.Translation3d; import java.io.IOException; import java.io.InputStream; import java.io.InputStreamReader; @@ -25,6 +22,9 @@ import java.util.List; import java.util.Map; import java.util.Objects; import java.util.Optional; +import org.wpilib.math.geometry.Pose3d; +import org.wpilib.math.geometry.Rotation3d; +import org.wpilib.math.geometry.Translation3d; /** * Class for representing a layout of AprilTags on a field and reading them from a JSON format. diff --git a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagPoseEstimator.java b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagPoseEstimator.java index 141895af14..224b78f3ef 100644 --- a/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagPoseEstimator.java +++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagPoseEstimator.java @@ -4,8 +4,8 @@ package org.wpilib.vision.apriltag; -import org.wpilib.vision.apriltag.jni.AprilTagJNI; import org.wpilib.math.geometry.Transform3d; +import org.wpilib.vision.apriltag.jni.AprilTagJNI; /** Pose estimators for AprilTag tags. */ public class AprilTagPoseEstimator { diff --git a/apriltag/src/main/java/org/wpilib/vision/apriltag/jni/AprilTagJNI.java b/apriltag/src/main/java/org/wpilib/vision/apriltag/jni/AprilTagJNI.java index a06b6b5bc6..0c013f4a8f 100644 --- a/apriltag/src/main/java/org/wpilib/vision/apriltag/jni/AprilTagJNI.java +++ b/apriltag/src/main/java/org/wpilib/vision/apriltag/jni/AprilTagJNI.java @@ -4,14 +4,14 @@ package org.wpilib.vision.apriltag.jni; -import org.wpilib.vision.apriltag.AprilTagDetection; -import org.wpilib.vision.apriltag.AprilTagDetector; -import org.wpilib.vision.apriltag.AprilTagPoseEstimate; +import java.io.IOException; +import java.util.concurrent.atomic.AtomicBoolean; import org.wpilib.math.geometry.Transform3d; import org.wpilib.util.RawFrame; import org.wpilib.util.runtime.RuntimeLoader; -import java.io.IOException; -import java.util.concurrent.atomic.AtomicBoolean; +import org.wpilib.vision.apriltag.AprilTagDetection; +import org.wpilib.vision.apriltag.AprilTagDetector; +import org.wpilib.vision.apriltag.AprilTagPoseEstimate; /** AprilTag JNI. */ public class AprilTagJNI { diff --git a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagDetectorTest.java b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagDetectorTest.java index f6d2664f99..358bc48753 100644 --- a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagDetectorTest.java +++ b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagDetectorTest.java @@ -8,9 +8,6 @@ import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.fail; -import org.wpilib.math.geometry.Transform3d; -import org.wpilib.math.util.Units; -import org.wpilib.util.runtime.RuntimeLoader; import java.io.ByteArrayOutputStream; import java.io.IOException; import java.io.InputStream; @@ -23,6 +20,9 @@ import org.opencv.core.CvType; import org.opencv.core.Mat; import org.opencv.imgcodecs.Imgcodecs; import org.opencv.imgproc.Imgproc; +import org.wpilib.math.geometry.Transform3d; +import org.wpilib.math.util.Units; +import org.wpilib.util.runtime.RuntimeLoader; class AprilTagDetectorTest { @SuppressWarnings("MemberName") diff --git a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagGenerationTest.java b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagGenerationTest.java index 88e362d902..328cae9dc6 100644 --- a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagGenerationTest.java +++ b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagGenerationTest.java @@ -6,8 +6,8 @@ package org.wpilib.vision.apriltag; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.util.PixelFormat; import org.junit.jupiter.api.Test; +import org.wpilib.util.PixelFormat; class AprilTagGenerationTest { @Test diff --git a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagPoseSetOriginTest.java b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagPoseSetOriginTest.java index 99db5fd4db..68df151c37 100644 --- a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagPoseSetOriginTest.java +++ b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagPoseSetOriginTest.java @@ -6,12 +6,12 @@ package org.wpilib.vision.apriltag; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.util.Units; -import java.util.List; -import org.junit.jupiter.api.Test; class AprilTagPoseSetOriginTest { @Test diff --git a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java index b1ee681f5a..8773f90bb2 100644 --- a/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java +++ b/apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagSerializationTest.java @@ -8,11 +8,11 @@ import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; import com.fasterxml.jackson.databind.ObjectMapper; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.util.Units; -import java.util.List; -import org.junit.jupiter.api.Test; class AprilTagSerializationTest { @Test diff --git a/apriltag/src/test/java/org/wpilib/vision/apriltag/LoadConfigTest.java b/apriltag/src/test/java/org/wpilib/vision/apriltag/LoadConfigTest.java index 5118ea548d..34f7b639c4 100644 --- a/apriltag/src/test/java/org/wpilib/vision/apriltag/LoadConfigTest.java +++ b/apriltag/src/test/java/org/wpilib/vision/apriltag/LoadConfigTest.java @@ -9,14 +9,14 @@ import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertNotNull; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.geometry.Pose3d; -import org.wpilib.math.geometry.Rotation3d; -import org.wpilib.math.util.Units; import java.util.Optional; import org.junit.jupiter.api.Assertions; import org.junit.jupiter.api.Test; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.EnumSource; +import org.wpilib.math.geometry.Pose3d; +import org.wpilib.math.geometry.Rotation3d; +import org.wpilib.math.util.Units; class LoadConfigTest { @ParameterizedTest diff --git a/benchmark/src/main/java/frc/robot/Main.java b/benchmark/src/main/java/frc/robot/Main.java index cf0fc63c82..0a559a6a2e 100644 --- a/benchmark/src/main/java/frc/robot/Main.java +++ b/benchmark/src/main/java/frc/robot/Main.java @@ -4,9 +4,6 @@ package frc.robot; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.geometry.Rotation2d; -import org.wpilib.math.path.TravelingSalesman; import java.util.concurrent.TimeUnit; import org.openjdk.jmh.annotations.Benchmark; import org.openjdk.jmh.annotations.BenchmarkMode; @@ -18,6 +15,9 @@ import org.openjdk.jmh.runner.RunnerException; import org.openjdk.jmh.runner.options.Options; import org.openjdk.jmh.runner.options.OptionsBuilder; import org.openjdk.jmh.runner.options.TimeValue; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.path.TravelingSalesman; public class Main { private static final Pose2d[] poses = { diff --git a/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java b/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java index 751cf3a919..7cad5b4611 100644 --- a/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java +++ b/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java @@ -10,14 +10,14 @@ import com.google.gson.JsonArray; import com.google.gson.JsonElement; import com.google.gson.JsonObject; import com.google.gson.JsonParser; -import org.wpilib.vision.stream.CameraServer; -import org.wpilib.vision.camera.VideoSource; -import org.wpilib.networktables.NetworkTableInstance; import java.io.IOException; import java.nio.file.Files; import java.nio.file.Paths; import java.util.ArrayList; import java.util.List; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.vision.camera.VideoSource; +import org.wpilib.vision.stream.CameraServer; /* JSON format: diff --git a/cameraserver/src/main/java/org/wpilib/vision/process/VisionRunner.java b/cameraserver/src/main/java/org/wpilib/vision/process/VisionRunner.java index ece5b67882..8328863ce4 100644 --- a/cameraserver/src/main/java/org/wpilib/vision/process/VisionRunner.java +++ b/cameraserver/src/main/java/org/wpilib/vision/process/VisionRunner.java @@ -4,10 +4,10 @@ package org.wpilib.vision.process; -import org.wpilib.vision.stream.CameraServerSharedStore; +import org.opencv.core.Mat; import org.wpilib.vision.camera.CvSink; import org.wpilib.vision.camera.VideoSource; -import org.opencv.core.Mat; +import org.wpilib.vision.stream.CameraServerSharedStore; /** * A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot diff --git a/cameraserver/src/main/java/org/wpilib/vision/process/package-info.java b/cameraserver/src/main/java/org/wpilib/vision/process/package-info.java index 00892edad1..87d73dce03 100644 --- a/cameraserver/src/main/java/org/wpilib/vision/process/package-info.java +++ b/cameraserver/src/main/java/org/wpilib/vision/process/package-info.java @@ -3,8 +3,8 @@ // the WPILib BSD license file in the root directory of this project. /** - * Classes in the {@code org.wpilib.vision.process} package are designed to simplify using OpenCV vision - * processing code from a robot program. + * Classes in the {@code org.wpilib.vision.process} package are designed to simplify using OpenCV + * vision processing code from a robot program. * *

An example use case for grabbing a yellow tote from 2015 in autonomous:
* diff --git a/cameraserver/src/main/java/org/wpilib/vision/stream/CameraServer.java b/cameraserver/src/main/java/org/wpilib/vision/stream/CameraServer.java index 5bc4905803..cf35ff5c52 100644 --- a/cameraserver/src/main/java/org/wpilib/vision/stream/CameraServer.java +++ b/cameraserver/src/main/java/org/wpilib/vision/stream/CameraServer.java @@ -4,17 +4,13 @@ package org.wpilib.vision.stream; -import org.wpilib.vision.camera.CameraServerJNI; -import org.wpilib.vision.camera.CvSink; -import org.wpilib.vision.camera.CvSource; -import org.wpilib.vision.camera.MjpegServer; -import org.wpilib.vision.camera.UsbCamera; -import org.wpilib.vision.camera.VideoEvent; -import org.wpilib.vision.camera.VideoException; -import org.wpilib.vision.camera.VideoListener; -import org.wpilib.vision.camera.VideoMode; -import org.wpilib.vision.camera.VideoSink; -import org.wpilib.vision.camera.VideoSource; +import java.lang.ref.Reference; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.HashMap; +import java.util.Map; +import java.util.Objects; +import java.util.concurrent.atomic.AtomicInteger; import org.wpilib.networktables.BooleanEntry; import org.wpilib.networktables.BooleanPublisher; import org.wpilib.networktables.IntegerEntry; @@ -26,13 +22,17 @@ import org.wpilib.networktables.StringArrayTopic; import org.wpilib.networktables.StringEntry; import org.wpilib.networktables.StringPublisher; import org.wpilib.util.PixelFormat; -import java.lang.ref.Reference; -import java.util.ArrayList; -import java.util.Arrays; -import java.util.HashMap; -import java.util.Map; -import java.util.Objects; -import java.util.concurrent.atomic.AtomicInteger; +import org.wpilib.vision.camera.CameraServerJNI; +import org.wpilib.vision.camera.CvSink; +import org.wpilib.vision.camera.CvSource; +import org.wpilib.vision.camera.MjpegServer; +import org.wpilib.vision.camera.UsbCamera; +import org.wpilib.vision.camera.VideoEvent; +import org.wpilib.vision.camera.VideoException; +import org.wpilib.vision.camera.VideoListener; +import org.wpilib.vision.camera.VideoMode; +import org.wpilib.vision.camera.VideoSink; +import org.wpilib.vision.camera.VideoSource; /** * Singleton class for creating and keeping camera servers. Also publishes camera information to diff --git a/commandsv2/src/main/java/org/wpilib/command2/Command.java b/commandsv2/src/main/java/org/wpilib/command2/Command.java index 91894e9681..02766fa1ef 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/Command.java +++ b/commandsv2/src/main/java/org/wpilib/command2/Command.java @@ -7,16 +7,16 @@ package org.wpilib.command2; import static org.wpilib.units.Units.Seconds; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.units.measure.Time; -import org.wpilib.util.function.BooleanConsumer; -import org.wpilib.util.sendable.Sendable; -import org.wpilib.util.sendable.SendableBuilder; -import org.wpilib.util.sendable.SendableRegistry; import java.util.Collection; import java.util.HashSet; import java.util.Set; import java.util.function.BooleanSupplier; import org.wpilib.annotation.NoDiscard; +import org.wpilib.units.measure.Time; +import org.wpilib.util.function.BooleanConsumer; +import org.wpilib.util.sendable.Sendable; +import org.wpilib.util.sendable.SendableBuilder; +import org.wpilib.util.sendable.SendableRegistry; /** * A state machine representing a complete action to be performed by the robot. Commands are run by diff --git a/commandsv2/src/main/java/org/wpilib/command2/CommandScheduler.java b/commandsv2/src/main/java/org/wpilib/command2/CommandScheduler.java index 762f394020..d3f8f35a04 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/CommandScheduler.java +++ b/commandsv2/src/main/java/org/wpilib/command2/CommandScheduler.java @@ -6,17 +6,6 @@ package org.wpilib.command2; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.util.sendable.Sendable; -import org.wpilib.util.sendable.SendableBuilder; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.driverstation.DriverStation; -import org.wpilib.opmode.RobotBase; -import org.wpilib.opmode.RobotState; -import org.wpilib.opmode.TimedRobot; -import org.wpilib.system.Watchdog; -import org.wpilib.event.EventLoop; -import org.wpilib.command2.Command.InterruptionBehavior; import java.io.PrintWriter; import java.io.StringWriter; import java.util.ArrayList; @@ -33,6 +22,17 @@ import java.util.Set; import java.util.WeakHashMap; import java.util.function.BiConsumer; import java.util.function.Consumer; +import org.wpilib.command2.Command.InterruptionBehavior; +import org.wpilib.driverstation.DriverStation; +import org.wpilib.event.EventLoop; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.opmode.RobotBase; +import org.wpilib.opmode.RobotState; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.system.Watchdog; +import org.wpilib.util.sendable.Sendable; +import org.wpilib.util.sendable.SendableBuilder; +import org.wpilib.util.sendable.SendableRegistry; /** * The scheduler responsible for running {@link Command}s. A Command-based robot should call {@link diff --git a/commandsv2/src/main/java/org/wpilib/command2/Commands.java b/commandsv2/src/main/java/org/wpilib/command2/Commands.java index 88b808e765..2a870c2717 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/Commands.java +++ b/commandsv2/src/main/java/org/wpilib/command2/Commands.java @@ -6,11 +6,11 @@ package org.wpilib.command2; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.units.measure.Time; import java.util.Map; import java.util.Set; import java.util.function.BooleanSupplier; import java.util.function.Supplier; +import org.wpilib.units.measure.Time; /** * Namespace for command factory methods. diff --git a/commandsv2/src/main/java/org/wpilib/command2/ConditionalCommand.java b/commandsv2/src/main/java/org/wpilib/command2/ConditionalCommand.java index 749b86dd09..31de47cce5 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/ConditionalCommand.java +++ b/commandsv2/src/main/java/org/wpilib/command2/ConditionalCommand.java @@ -6,8 +6,8 @@ package org.wpilib.command2; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.util.sendable.SendableBuilder; import java.util.function.BooleanSupplier; +import org.wpilib.util.sendable.SendableBuilder; /** * A command composition that runs one of two commands, depending on the value of the given diff --git a/commandsv2/src/main/java/org/wpilib/command2/DeferredCommand.java b/commandsv2/src/main/java/org/wpilib/command2/DeferredCommand.java index 1085e39ec1..da4b265875 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/DeferredCommand.java +++ b/commandsv2/src/main/java/org/wpilib/command2/DeferredCommand.java @@ -6,9 +6,9 @@ package org.wpilib.command2; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.util.sendable.SendableBuilder; import java.util.Set; import java.util.function.Supplier; +import org.wpilib.util.sendable.SendableBuilder; /** * Defers Command construction to runtime. Runs the command returned by a supplier when this command diff --git a/commandsv2/src/main/java/org/wpilib/command2/ParallelDeadlineGroup.java b/commandsv2/src/main/java/org/wpilib/command2/ParallelDeadlineGroup.java index 936dbf43eb..e8baf2c9aa 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/ParallelDeadlineGroup.java +++ b/commandsv2/src/main/java/org/wpilib/command2/ParallelDeadlineGroup.java @@ -4,10 +4,10 @@ package org.wpilib.command2; -import org.wpilib.util.sendable.SendableBuilder; import java.util.Collections; import java.util.LinkedHashMap; import java.util.Map; +import org.wpilib.util.sendable.SendableBuilder; /** * A command composition that runs a set of commands in parallel, ending only when a specific diff --git a/commandsv2/src/main/java/org/wpilib/command2/ProxyCommand.java b/commandsv2/src/main/java/org/wpilib/command2/ProxyCommand.java index 562f7264c4..8c83f67104 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/ProxyCommand.java +++ b/commandsv2/src/main/java/org/wpilib/command2/ProxyCommand.java @@ -6,8 +6,8 @@ package org.wpilib.command2; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.util.sendable.SendableBuilder; import java.util.function.Supplier; +import org.wpilib.util.sendable.SendableBuilder; /** * Schedules a given command when this command is initialized and ends when it ends, but does not diff --git a/commandsv2/src/main/java/org/wpilib/command2/SelectCommand.java b/commandsv2/src/main/java/org/wpilib/command2/SelectCommand.java index 1c1b6d6480..4f9dd48d85 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/SelectCommand.java +++ b/commandsv2/src/main/java/org/wpilib/command2/SelectCommand.java @@ -6,9 +6,9 @@ package org.wpilib.command2; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.util.sendable.SendableBuilder; import java.util.Map; import java.util.function.Supplier; +import org.wpilib.util.sendable.SendableBuilder; /** * A command composition that runs one of a selection of commands using a selector and a key to diff --git a/commandsv2/src/main/java/org/wpilib/command2/SequentialCommandGroup.java b/commandsv2/src/main/java/org/wpilib/command2/SequentialCommandGroup.java index 9ab0250cf8..1922321e0b 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/SequentialCommandGroup.java +++ b/commandsv2/src/main/java/org/wpilib/command2/SequentialCommandGroup.java @@ -4,9 +4,9 @@ package org.wpilib.command2; -import org.wpilib.util.sendable.SendableBuilder; import java.util.ArrayList; import java.util.List; +import org.wpilib.util.sendable.SendableBuilder; /** * A command composition that runs a list of commands in sequence. diff --git a/commandsv2/src/main/java/org/wpilib/command2/WaitCommand.java b/commandsv2/src/main/java/org/wpilib/command2/WaitCommand.java index be414c032b..191f93ebc5 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/WaitCommand.java +++ b/commandsv2/src/main/java/org/wpilib/command2/WaitCommand.java @@ -6,10 +6,10 @@ package org.wpilib.command2; import static org.wpilib.units.Units.Seconds; +import org.wpilib.system.Timer; import org.wpilib.units.measure.Time; import org.wpilib.util.sendable.SendableBuilder; import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.system.Timer; /** * A command that does nothing but takes a specified amount of time to finish. diff --git a/commandsv2/src/main/java/org/wpilib/command2/WaitUntilCommand.java b/commandsv2/src/main/java/org/wpilib/command2/WaitUntilCommand.java index 1a90015a1a..53711ea273 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/WaitUntilCommand.java +++ b/commandsv2/src/main/java/org/wpilib/command2/WaitUntilCommand.java @@ -6,8 +6,8 @@ package org.wpilib.command2; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.system.Timer; import java.util.function.BooleanSupplier; +import org.wpilib.system.Timer; /** * A command that does nothing but ends after a specified match time or condition. Useful for diff --git a/commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java b/commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java index f1d343c24b..e3aa34ebab 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java +++ b/commandsv2/src/main/java/org/wpilib/command2/button/CommandGamepad.java @@ -4,9 +4,9 @@ package org.wpilib.command2.button; +import org.wpilib.command2.CommandScheduler; import org.wpilib.driverstation.Gamepad; import org.wpilib.event.EventLoop; -import org.wpilib.command2.CommandScheduler; /** * A version of {@link Gamepad} with {@link Trigger} factories for command-based. diff --git a/commandsv2/src/main/java/org/wpilib/command2/button/CommandGenericHID.java b/commandsv2/src/main/java/org/wpilib/command2/button/CommandGenericHID.java index cb1a6ebf75..70d2641c1d 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/button/CommandGenericHID.java +++ b/commandsv2/src/main/java/org/wpilib/command2/button/CommandGenericHID.java @@ -4,13 +4,13 @@ package org.wpilib.command2.button; -import org.wpilib.math.util.Pair; +import java.util.HashMap; +import java.util.Map; +import org.wpilib.command2.CommandScheduler; import org.wpilib.driverstation.DriverStation.POVDirection; import org.wpilib.driverstation.GenericHID; import org.wpilib.event.EventLoop; -import org.wpilib.command2.CommandScheduler; -import java.util.HashMap; -import java.util.Map; +import org.wpilib.math.util.Pair; /** * A version of {@link GenericHID} with {@link Trigger} factories for command-based. diff --git a/commandsv2/src/main/java/org/wpilib/command2/button/CommandJoystick.java b/commandsv2/src/main/java/org/wpilib/command2/button/CommandJoystick.java index e23025e017..a1a4f882f0 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/button/CommandJoystick.java +++ b/commandsv2/src/main/java/org/wpilib/command2/button/CommandJoystick.java @@ -4,9 +4,9 @@ package org.wpilib.command2.button; +import org.wpilib.command2.CommandScheduler; import org.wpilib.driverstation.Joystick; import org.wpilib.event.EventLoop; -import org.wpilib.command2.CommandScheduler; /** * A version of {@link Joystick} with {@link Trigger} factories for command-based. diff --git a/commandsv2/src/main/java/org/wpilib/command2/button/Trigger.java b/commandsv2/src/main/java/org/wpilib/command2/button/Trigger.java index fe545ea14d..a2e98d41a1 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/button/Trigger.java +++ b/commandsv2/src/main/java/org/wpilib/command2/button/Trigger.java @@ -6,11 +6,11 @@ package org.wpilib.command2.button; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.math.filter.Debouncer; -import org.wpilib.event.EventLoop; +import java.util.function.BooleanSupplier; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; -import java.util.function.BooleanSupplier; +import org.wpilib.event.EventLoop; +import org.wpilib.math.filter.Debouncer; /** * This class provides an easy way to link commands to conditions. diff --git a/commandsv2/src/main/java/org/wpilib/command2/sysid/SysIdRoutine.java b/commandsv2/src/main/java/org/wpilib/command2/sysid/SysIdRoutine.java index b5337c58ce..7bc237460c 100644 --- a/commandsv2/src/main/java/org/wpilib/command2/sysid/SysIdRoutine.java +++ b/commandsv2/src/main/java/org/wpilib/command2/sysid/SysIdRoutine.java @@ -4,21 +4,21 @@ package org.wpilib.command2.sysid; +import static java.util.Map.entry; import static org.wpilib.units.Units.Second; import static org.wpilib.units.Units.Seconds; import static org.wpilib.units.Units.Volts; -import static java.util.Map.entry; +import java.util.Map; +import java.util.function.Consumer; +import org.wpilib.command2.Command; +import org.wpilib.command2.Subsystem; +import org.wpilib.sysid.SysIdRoutineLog; +import org.wpilib.system.Timer; import org.wpilib.units.VoltageUnit; import org.wpilib.units.measure.Time; import org.wpilib.units.measure.Velocity; import org.wpilib.units.measure.Voltage; -import org.wpilib.system.Timer; -import org.wpilib.sysid.SysIdRoutineLog; -import org.wpilib.command2.Command; -import org.wpilib.command2.Subsystem; -import java.util.Map; -import java.util.function.Consumer; /** * A SysId characterization routine for a single mechanism. Mechanisms may have multiple motors. diff --git a/commandsv2/src/test/java/org/wpilib/MockHardwareExtension.java b/commandsv2/src/test/java/org/wpilib/MockHardwareExtension.java index 13ccafead2..0c277ce33b 100644 --- a/commandsv2/src/test/java/org/wpilib/MockHardwareExtension.java +++ b/commandsv2/src/test/java/org/wpilib/MockHardwareExtension.java @@ -4,11 +4,11 @@ package org.wpilib; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.DriverStationSim; import org.junit.jupiter.api.extension.BeforeAllCallback; import org.junit.jupiter.api.extension.ExtensionContext; import org.junit.jupiter.api.extension.ExtensionContext.Namespace; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.DriverStationSim; public final class MockHardwareExtension implements BeforeAllCallback { private static ExtensionContext getRoot(ExtensionContext context) { diff --git a/commandsv2/src/test/java/org/wpilib/command2/CommandDecoratorTest.java b/commandsv2/src/test/java/org/wpilib/command2/CommandDecoratorTest.java index abaea1bda7..9b364d3abf 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/CommandDecoratorTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/CommandDecoratorTest.java @@ -9,12 +9,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.SimHooks; import java.util.concurrent.atomic.AtomicBoolean; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.Test; import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.SimHooks; class CommandDecoratorTest extends CommandTestBase { @Test diff --git a/commandsv2/src/test/java/org/wpilib/command2/CommandScheduleTest.java b/commandsv2/src/test/java/org/wpilib/command2/CommandScheduleTest.java index 2d43265e31..9abb7e4a45 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/CommandScheduleTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/CommandScheduleTest.java @@ -11,9 +11,9 @@ import static org.mockito.Mockito.never; import static org.mockito.Mockito.times; import static org.mockito.Mockito.verify; +import org.junit.jupiter.api.Test; import org.wpilib.networktables.NetworkTableInstance; import org.wpilib.smartdashboard.SmartDashboard; -import org.junit.jupiter.api.Test; class CommandScheduleTest extends CommandTestBase { @Test diff --git a/commandsv2/src/test/java/org/wpilib/command2/CommandSendableButtonTest.java b/commandsv2/src/test/java/org/wpilib/command2/CommandSendableButtonTest.java index 82ebdb467b..1f6f0285a6 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/CommandSendableButtonTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/CommandSendableButtonTest.java @@ -8,13 +8,13 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.networktables.BooleanPublisher; -import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.smartdashboard.SmartDashboard; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.networktables.BooleanPublisher; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.smartdashboard.SmartDashboard; class CommandSendableButtonTest extends CommandTestBase { private NetworkTableInstance m_inst; diff --git a/commandsv2/src/test/java/org/wpilib/command2/CommandTestBase.java b/commandsv2/src/test/java/org/wpilib/command2/CommandTestBase.java index 3936437b10..6b59ca6b09 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/CommandTestBase.java +++ b/commandsv2/src/test/java/org/wpilib/command2/CommandTestBase.java @@ -7,11 +7,11 @@ package org.wpilib.command2; import static org.mockito.Mockito.mock; import static org.mockito.Mockito.when; -import org.wpilib.driverstation.DriverStation; -import org.wpilib.simulation.DriverStationSim; -import org.wpilib.command2.Command.InterruptionBehavior; import java.util.Set; import org.junit.jupiter.api.BeforeEach; +import org.wpilib.command2.Command.InterruptionBehavior; +import org.wpilib.driverstation.DriverStation; +import org.wpilib.simulation.DriverStationSim; /** Basic setup for all {@link Command tests}. */ public class CommandTestBase { diff --git a/commandsv2/src/test/java/org/wpilib/command2/ConditionalCommandTest.java b/commandsv2/src/test/java/org/wpilib/command2/ConditionalCommandTest.java index 813fa5cbda..3f811617bf 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/ConditionalCommandTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/ConditionalCommandTest.java @@ -10,13 +10,13 @@ import static org.junit.jupiter.params.provider.Arguments.arguments; import static org.mockito.Mockito.never; import static org.mockito.Mockito.verify; -import org.wpilib.command2.Command.InterruptionBehavior; import java.util.function.BooleanSupplier; import java.util.stream.Stream; import org.junit.jupiter.api.Test; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.Arguments; import org.junit.jupiter.params.provider.MethodSource; +import org.wpilib.command2.Command.InterruptionBehavior; class ConditionalCommandTest extends CommandTestBase { @Test diff --git a/commandsv2/src/test/java/org/wpilib/command2/MultiCompositionTestBase.java b/commandsv2/src/test/java/org/wpilib/command2/MultiCompositionTestBase.java index a8cfe163c1..b332a16c22 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/MultiCompositionTestBase.java +++ b/commandsv2/src/test/java/org/wpilib/command2/MultiCompositionTestBase.java @@ -8,11 +8,11 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.params.provider.Arguments.arguments; -import org.wpilib.command2.Command.InterruptionBehavior; import java.util.stream.Stream; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.Arguments; import org.junit.jupiter.params.provider.MethodSource; +import org.wpilib.command2.Command.InterruptionBehavior; abstract class MultiCompositionTestBase extends SingleCompositionTestBase { abstract T compose(Command... members); diff --git a/commandsv2/src/test/java/org/wpilib/command2/NotifierCommandTest.java b/commandsv2/src/test/java/org/wpilib/command2/NotifierCommandTest.java index 270189fcce..18744f1c4e 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/NotifierCommandTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/NotifierCommandTest.java @@ -6,13 +6,13 @@ package org.wpilib.command2; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.SimHooks; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.SimHooks; class NotifierCommandTest extends CommandTestBase { @BeforeEach diff --git a/commandsv2/src/test/java/org/wpilib/command2/RobotDisabledCommandTest.java b/commandsv2/src/test/java/org/wpilib/command2/RobotDisabledCommandTest.java index 641a7d6c69..ea320341fb 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/RobotDisabledCommandTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/RobotDisabledCommandTest.java @@ -4,9 +4,9 @@ package org.wpilib.command2; -import static org.wpilib.command2.Commands.parallel; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import static org.wpilib.command2.Commands.parallel; import java.util.Map; import org.junit.jupiter.api.Test; diff --git a/commandsv2/src/test/java/org/wpilib/command2/SchedulingRecursionTest.java b/commandsv2/src/test/java/org/wpilib/command2/SchedulingRecursionTest.java index 525921782d..6f7d93d73c 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/SchedulingRecursionTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/SchedulingRecursionTest.java @@ -9,12 +9,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.command2.Command.InterruptionBehavior; import java.util.concurrent.atomic.AtomicBoolean; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.Test; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.EnumSource; +import org.wpilib.command2.Command.InterruptionBehavior; class SchedulingRecursionTest extends CommandTestBase { /** diff --git a/commandsv2/src/test/java/org/wpilib/command2/WaitCommandTest.java b/commandsv2/src/test/java/org/wpilib/command2/WaitCommandTest.java index c2467af8e7..fed62e3f7f 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/WaitCommandTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/WaitCommandTest.java @@ -12,12 +12,12 @@ import static org.mockito.Mockito.never; import static org.mockito.Mockito.verify; import static org.mockito.Mockito.when; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.SimHooks; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.SimHooks; class WaitCommandTest extends CommandTestBase { @BeforeEach diff --git a/commandsv2/src/test/java/org/wpilib/command2/button/NetworkButtonTest.java b/commandsv2/src/test/java/org/wpilib/command2/button/NetworkButtonTest.java index 8ae728e34f..94ef8a9694 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/button/NetworkButtonTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/button/NetworkButtonTest.java @@ -7,12 +7,12 @@ package org.wpilib.command2.button; import static org.mockito.Mockito.never; import static org.mockito.Mockito.verify; -import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.command2.CommandScheduler; -import org.wpilib.command2.CommandTestBase; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.command2.CommandScheduler; +import org.wpilib.command2.CommandTestBase; +import org.wpilib.networktables.NetworkTableInstance; class NetworkButtonTest extends CommandTestBase { NetworkTableInstance m_inst; diff --git a/commandsv2/src/test/java/org/wpilib/command2/button/RobotModeTriggersTest.java b/commandsv2/src/test/java/org/wpilib/command2/button/RobotModeTriggersTest.java index ce63dbe791..f072e18a7d 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/button/RobotModeTriggersTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/button/RobotModeTriggersTest.java @@ -6,9 +6,9 @@ package org.wpilib.command2.button; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.simulation.DriverStationSim; -import org.wpilib.command2.CommandTestBase; import org.junit.jupiter.api.Test; +import org.wpilib.command2.CommandTestBase; +import org.wpilib.simulation.DriverStationSim; class RobotModeTriggersTest extends CommandTestBase { @Test diff --git a/commandsv2/src/test/java/org/wpilib/command2/button/TriggerTest.java b/commandsv2/src/test/java/org/wpilib/command2/button/TriggerTest.java index fa5d20c5e9..1c892f108b 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/button/TriggerTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/button/TriggerTest.java @@ -10,7 +10,10 @@ import static org.junit.jupiter.api.Assertions.assertTrue; import static org.mockito.Mockito.never; import static org.mockito.Mockito.verify; -import org.wpilib.simulation.SimHooks; +import java.util.concurrent.atomic.AtomicBoolean; +import java.util.concurrent.atomic.AtomicInteger; +import java.util.function.BooleanSupplier; +import org.junit.jupiter.api.Test; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; import org.wpilib.command2.CommandTestBase; @@ -18,10 +21,7 @@ import org.wpilib.command2.FunctionalCommand; import org.wpilib.command2.RunCommand; import org.wpilib.command2.StartEndCommand; import org.wpilib.command2.WaitUntilCommand; -import java.util.concurrent.atomic.AtomicBoolean; -import java.util.concurrent.atomic.AtomicInteger; -import java.util.function.BooleanSupplier; -import org.junit.jupiter.api.Test; +import org.wpilib.simulation.SimHooks; class TriggerTest extends CommandTestBase { @Test diff --git a/commandsv2/src/test/java/org/wpilib/command2/sysid/SysIdRoutineTest.java b/commandsv2/src/test/java/org/wpilib/command2/sysid/SysIdRoutineTest.java index b5fcf0ab8d..173a99061e 100644 --- a/commandsv2/src/test/java/org/wpilib/command2/sysid/SysIdRoutineTest.java +++ b/commandsv2/src/test/java/org/wpilib/command2/sysid/SysIdRoutineTest.java @@ -4,7 +4,6 @@ package org.wpilib.command2.sysid; -import static org.wpilib.units.Units.Volts; import static org.mockito.ArgumentMatchers.any; import static org.mockito.Mockito.atLeastOnce; import static org.mockito.Mockito.clearInvocations; @@ -12,16 +11,17 @@ import static org.mockito.Mockito.inOrder; import static org.mockito.Mockito.mock; import static org.mockito.Mockito.never; import static org.mockito.Mockito.verify; +import static org.wpilib.units.Units.Volts; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.units.measure.Voltage; -import org.wpilib.simulation.SimHooks; -import org.wpilib.sysid.SysIdRoutineLog; -import org.wpilib.command2.Command; -import org.wpilib.command2.Subsystem; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.command2.Command; +import org.wpilib.command2.Subsystem; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.SimHooks; +import org.wpilib.sysid.SysIdRoutineLog; +import org.wpilib.units.measure.Voltage; class SysIdRoutineTest { interface Mechanism extends Subsystem { diff --git a/commandsv3/src/main/java/org/wpilib/command3/Command.java b/commandsv3/src/main/java/org/wpilib/command3/Command.java index e3427dd58e..f47abc8e80 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/Command.java +++ b/commandsv3/src/main/java/org/wpilib/command3/Command.java @@ -6,13 +6,13 @@ package org.wpilib.command3; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.units.measure.Time; import java.util.Collection; import java.util.Collections; import java.util.Set; import java.util.function.BooleanSupplier; import java.util.function.Consumer; import org.wpilib.annotation.NoDiscard; +import org.wpilib.units.measure.Time; /** * Performs some task using one or more {@link Mechanism mechanisms}. Commands are fundamentally diff --git a/commandsv3/src/main/java/org/wpilib/command3/Coroutine.java b/commandsv3/src/main/java/org/wpilib/command3/Coroutine.java index e56cb5487e..38c4d72c84 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/Coroutine.java +++ b/commandsv3/src/main/java/org/wpilib/command3/Coroutine.java @@ -7,13 +7,13 @@ package org.wpilib.command3; import static org.wpilib.units.Units.Seconds; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.units.measure.Time; -import org.wpilib.system.Timer; import java.util.Arrays; import java.util.Collection; import java.util.List; import java.util.function.BooleanSupplier; import java.util.function.Consumer; +import org.wpilib.system.Timer; +import org.wpilib.units.measure.Time; /** * A coroutine object is injected into command's {@link Command#run(Coroutine)} method to allow diff --git a/commandsv3/src/main/java/org/wpilib/command3/Mechanism.java b/commandsv3/src/main/java/org/wpilib/command3/Mechanism.java index d88cb4138c..925b649b52 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/Mechanism.java +++ b/commandsv3/src/main/java/org/wpilib/command3/Mechanism.java @@ -4,10 +4,10 @@ package org.wpilib.command3; -import org.wpilib.units.measure.Time; import java.util.List; import java.util.function.Consumer; import org.wpilib.annotation.NoDiscard; +import org.wpilib.units.measure.Time; /** * Generic base class to represent mechanisms on a robot. Commands can require sole ownership of a diff --git a/commandsv3/src/main/java/org/wpilib/command3/Scheduler.java b/commandsv3/src/main/java/org/wpilib/command3/Scheduler.java index 969ecc9d70..e0bc788c05 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/Scheduler.java +++ b/commandsv3/src/main/java/org/wpilib/command3/Scheduler.java @@ -7,11 +7,6 @@ package org.wpilib.command3; import static org.wpilib.units.Units.Microseconds; import static org.wpilib.units.Units.Milliseconds; -import org.wpilib.util.ErrorMessages; -import org.wpilib.util.protobuf.ProtobufSerializable; -import org.wpilib.system.RobotController; -import org.wpilib.opmode.TimedRobot; -import org.wpilib.event.EventLoop; import java.util.ArrayList; import java.util.Collection; import java.util.Collections; @@ -29,6 +24,11 @@ import java.util.stream.Collectors; import org.wpilib.annotation.NoDiscard; import org.wpilib.command3.button.CommandGenericHID; import org.wpilib.command3.proto.SchedulerProto; +import org.wpilib.event.EventLoop; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.system.RobotController; +import org.wpilib.util.ErrorMessages; +import org.wpilib.util.protobuf.ProtobufSerializable; /** * Manages the lifecycles of {@link Coroutine}-based {@link Command Commands}. Commands may be diff --git a/commandsv3/src/main/java/org/wpilib/command3/SchedulerEvent.java b/commandsv3/src/main/java/org/wpilib/command3/SchedulerEvent.java index f4422aef10..7dcc084f0a 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/SchedulerEvent.java +++ b/commandsv3/src/main/java/org/wpilib/command3/SchedulerEvent.java @@ -4,8 +4,8 @@ package org.wpilib.command3; -import org.wpilib.system.RobotController; import java.util.function.Consumer; +import org.wpilib.system.RobotController; /** * An event that occurs during scheduler processing. This can range from {@link Scheduled a command diff --git a/commandsv3/src/main/java/org/wpilib/command3/Trigger.java b/commandsv3/src/main/java/org/wpilib/command3/Trigger.java index 20bb88a829..c31174f4d4 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/Trigger.java +++ b/commandsv3/src/main/java/org/wpilib/command3/Trigger.java @@ -7,14 +7,14 @@ package org.wpilib.command3; import static org.wpilib.units.Units.Seconds; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.math.filter.Debouncer; -import org.wpilib.units.measure.Time; -import org.wpilib.event.EventLoop; import java.util.ArrayList; import java.util.EnumMap; import java.util.List; import java.util.Map; import java.util.function.BooleanSupplier; +import org.wpilib.event.EventLoop; +import org.wpilib.math.filter.Debouncer; +import org.wpilib.units.measure.Time; /** * Triggers allow users to specify conditions for when commands should run. Triggers can be set up diff --git a/commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java b/commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java index b3c26e61d6..cbf1038805 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java +++ b/commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java @@ -4,10 +4,10 @@ package org.wpilib.command3.button; -import org.wpilib.driverstation.Gamepad; -import org.wpilib.event.EventLoop; import org.wpilib.command3.Scheduler; import org.wpilib.command3.Trigger; +import org.wpilib.driverstation.Gamepad; +import org.wpilib.event.EventLoop; /** * A version of {@link Gamepad} with {@link Trigger} factories for command-based. diff --git a/commandsv3/src/main/java/org/wpilib/command3/button/CommandGenericHID.java b/commandsv3/src/main/java/org/wpilib/command3/button/CommandGenericHID.java index 27d0bbb6f8..432cfc42dc 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/button/CommandGenericHID.java +++ b/commandsv3/src/main/java/org/wpilib/command3/button/CommandGenericHID.java @@ -4,14 +4,14 @@ package org.wpilib.command3.button; -import org.wpilib.math.util.Pair; -import org.wpilib.driverstation.DriverStation.POVDirection; -import org.wpilib.driverstation.GenericHID; -import org.wpilib.event.EventLoop; import java.util.HashMap; import java.util.Map; import org.wpilib.command3.Scheduler; import org.wpilib.command3.Trigger; +import org.wpilib.driverstation.DriverStation.POVDirection; +import org.wpilib.driverstation.GenericHID; +import org.wpilib.event.EventLoop; +import org.wpilib.math.util.Pair; /** * A version of {@link GenericHID} with {@link Trigger} factories for command-based. diff --git a/commandsv3/src/main/java/org/wpilib/command3/button/CommandJoystick.java b/commandsv3/src/main/java/org/wpilib/command3/button/CommandJoystick.java index ecc7e796fa..02e709ccef 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/button/CommandJoystick.java +++ b/commandsv3/src/main/java/org/wpilib/command3/button/CommandJoystick.java @@ -4,10 +4,10 @@ package org.wpilib.command3.button; -import org.wpilib.driverstation.Joystick; -import org.wpilib.event.EventLoop; import org.wpilib.command3.Scheduler; import org.wpilib.command3.Trigger; +import org.wpilib.driverstation.Joystick; +import org.wpilib.event.EventLoop; /** * A version of {@link Joystick} with {@link Trigger} factories for command-based. diff --git a/commandsv3/src/main/java/org/wpilib/command3/button/JoystickButton.java b/commandsv3/src/main/java/org/wpilib/command3/button/JoystickButton.java index e8bde30fd0..e46a6c6fca 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/button/JoystickButton.java +++ b/commandsv3/src/main/java/org/wpilib/command3/button/JoystickButton.java @@ -6,8 +6,8 @@ package org.wpilib.command3.button; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.driverstation.GenericHID; import org.wpilib.command3.Trigger; +import org.wpilib.driverstation.GenericHID; /** A {@link Trigger} that gets its state from a {@link GenericHID}. */ public class JoystickButton extends Trigger { diff --git a/commandsv3/src/main/java/org/wpilib/command3/button/NetworkButton.java b/commandsv3/src/main/java/org/wpilib/command3/button/NetworkButton.java index e80d9d6442..0d7ac4fad0 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/button/NetworkButton.java +++ b/commandsv3/src/main/java/org/wpilib/command3/button/NetworkButton.java @@ -6,11 +6,11 @@ package org.wpilib.command3.button; import static org.wpilib.util.ErrorMessages.requireNonNullParam; +import org.wpilib.command3.Trigger; import org.wpilib.networktables.BooleanSubscriber; import org.wpilib.networktables.BooleanTopic; import org.wpilib.networktables.NetworkTable; import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.command3.Trigger; /** A {@link Trigger} that uses a {@link NetworkTable} boolean field. */ public class NetworkButton extends Trigger { diff --git a/commandsv3/src/main/java/org/wpilib/command3/button/POVButton.java b/commandsv3/src/main/java/org/wpilib/command3/button/POVButton.java index 7aebb18a76..724e8695cb 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/button/POVButton.java +++ b/commandsv3/src/main/java/org/wpilib/command3/button/POVButton.java @@ -6,9 +6,9 @@ package org.wpilib.command3.button; import static org.wpilib.util.ErrorMessages.requireNonNullParam; +import org.wpilib.command3.Trigger; import org.wpilib.driverstation.DriverStation.POVDirection; import org.wpilib.driverstation.GenericHID; -import org.wpilib.command3.Trigger; /** A {@link Trigger} that gets its state from a POV on a {@link GenericHID}. */ public class POVButton extends Trigger { diff --git a/commandsv3/src/main/java/org/wpilib/command3/button/RobotModeTriggers.java b/commandsv3/src/main/java/org/wpilib/command3/button/RobotModeTriggers.java index c2d092fa0d..e41eec9906 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/button/RobotModeTriggers.java +++ b/commandsv3/src/main/java/org/wpilib/command3/button/RobotModeTriggers.java @@ -4,8 +4,8 @@ package org.wpilib.command3.button; -import org.wpilib.driverstation.DriverStation; import org.wpilib.command3.Trigger; +import org.wpilib.driverstation.DriverStation; /** * A class containing static {@link Trigger} factories for running callbacks when the robot mode diff --git a/commandsv3/src/main/java/org/wpilib/command3/proto/CommandProto.java b/commandsv3/src/main/java/org/wpilib/command3/proto/CommandProto.java index 2161477a36..600786510e 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/proto/CommandProto.java +++ b/commandsv3/src/main/java/org/wpilib/command3/proto/CommandProto.java @@ -4,11 +4,11 @@ package org.wpilib.command3.proto; -import org.wpilib.util.protobuf.Protobuf; import org.wpilib.command3.Command; import org.wpilib.command3.Mechanism; import org.wpilib.command3.Scheduler; import org.wpilib.command3.proto.ProtobufCommands.ProtobufCommand; +import org.wpilib.util.protobuf.Protobuf; import us.hebi.quickbuf.Descriptors; /** Protobuf serde for running commands. */ diff --git a/commandsv3/src/main/java/org/wpilib/command3/proto/MechanismProto.java b/commandsv3/src/main/java/org/wpilib/command3/proto/MechanismProto.java index 9dafc343e6..8968dfc41c 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/proto/MechanismProto.java +++ b/commandsv3/src/main/java/org/wpilib/command3/proto/MechanismProto.java @@ -4,9 +4,9 @@ package org.wpilib.command3.proto; -import org.wpilib.util.protobuf.Protobuf; import org.wpilib.command3.Mechanism; import org.wpilib.command3.proto.ProtobufCommands.ProtobufMechanism; +import org.wpilib.util.protobuf.Protobuf; import us.hebi.quickbuf.Descriptors; public class MechanismProto implements Protobuf { diff --git a/commandsv3/src/main/java/org/wpilib/command3/proto/SchedulerProto.java b/commandsv3/src/main/java/org/wpilib/command3/proto/SchedulerProto.java index 27931efc71..66d6f0d8a9 100644 --- a/commandsv3/src/main/java/org/wpilib/command3/proto/SchedulerProto.java +++ b/commandsv3/src/main/java/org/wpilib/command3/proto/SchedulerProto.java @@ -4,10 +4,10 @@ package org.wpilib.command3.proto; -import org.wpilib.util.protobuf.Protobuf; import org.wpilib.command3.Command; import org.wpilib.command3.Scheduler; import org.wpilib.command3.proto.ProtobufCommands.ProtobufScheduler; +import org.wpilib.util.protobuf.Protobuf; import us.hebi.quickbuf.Descriptors; /** diff --git a/commandsv3/src/test/java/org/wpilib/command3/CommandTestBase.java b/commandsv3/src/test/java/org/wpilib/command3/CommandTestBase.java index 5034230c81..3c62033201 100644 --- a/commandsv3/src/test/java/org/wpilib/command3/CommandTestBase.java +++ b/commandsv3/src/test/java/org/wpilib/command3/CommandTestBase.java @@ -4,10 +4,10 @@ package org.wpilib.command3; -import org.wpilib.system.RobotController; import java.util.ArrayList; import java.util.List; import org.junit.jupiter.api.BeforeEach; +import org.wpilib.system.RobotController; class CommandTestBase { protected Scheduler m_scheduler; diff --git a/commandsv3/src/test/java/org/wpilib/command3/SchedulerTimingTests.java b/commandsv3/src/test/java/org/wpilib/command3/SchedulerTimingTests.java index 83c4cbd91d..99d39dc63d 100644 --- a/commandsv3/src/test/java/org/wpilib/command3/SchedulerTimingTests.java +++ b/commandsv3/src/test/java/org/wpilib/command3/SchedulerTimingTests.java @@ -4,19 +4,19 @@ package org.wpilib.command3; -import static org.wpilib.units.Units.Microseconds; -import static org.wpilib.units.Units.Milliseconds; -import static org.wpilib.units.Units.Seconds; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import static org.wpilib.units.Units.Microseconds; +import static org.wpilib.units.Units.Milliseconds; +import static org.wpilib.units.Units.Seconds; -import org.wpilib.system.RobotController; import java.util.concurrent.atomic.AtomicBoolean; import java.util.concurrent.atomic.AtomicInteger; import java.util.concurrent.atomic.AtomicLong; import java.util.concurrent.atomic.AtomicReference; import org.junit.jupiter.api.Test; +import org.wpilib.system.RobotController; class SchedulerTimingTests extends CommandTestBase { @Test diff --git a/cscore/src/main/java/org/wpilib/vision/camera/CameraServerJNI.java b/cscore/src/main/java/org/wpilib/vision/camera/CameraServerJNI.java index a9f8e76423..db94f61c4c 100644 --- a/cscore/src/main/java/org/wpilib/vision/camera/CameraServerJNI.java +++ b/cscore/src/main/java/org/wpilib/vision/camera/CameraServerJNI.java @@ -4,12 +4,12 @@ package org.wpilib.vision.camera; -import org.wpilib.util.RawFrame; -import org.wpilib.util.runtime.RuntimeLoader; import java.io.IOException; import java.nio.ByteBuffer; import java.util.concurrent.atomic.AtomicBoolean; import java.util.function.Consumer; +import org.wpilib.util.RawFrame; +import org.wpilib.util.runtime.RuntimeLoader; /** CameraServer JNI. */ public class CameraServerJNI { diff --git a/cscore/src/main/java/org/wpilib/vision/camera/CvSink.java b/cscore/src/main/java/org/wpilib/vision/camera/CvSink.java index fd1a913dc2..98562e4351 100644 --- a/cscore/src/main/java/org/wpilib/vision/camera/CvSink.java +++ b/cscore/src/main/java/org/wpilib/vision/camera/CvSink.java @@ -4,12 +4,12 @@ package org.wpilib.vision.camera; -import org.wpilib.util.PixelFormat; -import org.wpilib.util.RawFrame; -import org.wpilib.util.TimestampSource; import java.nio.ByteBuffer; import org.opencv.core.CvType; import org.opencv.core.Mat; +import org.wpilib.util.PixelFormat; +import org.wpilib.util.RawFrame; +import org.wpilib.util.TimestampSource; /** * A sink for user code to accept video frames as OpenCV images. These sinks require the WPILib diff --git a/cscore/src/main/java/org/wpilib/vision/camera/CvSource.java b/cscore/src/main/java/org/wpilib/vision/camera/CvSource.java index 0602a9712f..89bc26b04b 100644 --- a/cscore/src/main/java/org/wpilib/vision/camera/CvSource.java +++ b/cscore/src/main/java/org/wpilib/vision/camera/CvSource.java @@ -4,8 +4,8 @@ package org.wpilib.vision.camera; -import org.wpilib.util.PixelFormat; import org.opencv.core.Mat; +import org.wpilib.util.PixelFormat; /** * A source that represents a video camera. These sources require the WPILib OpenCV builds. For an diff --git a/cscore/src/main/java/org/wpilib/vision/camera/OpenCvLoader.java b/cscore/src/main/java/org/wpilib/vision/camera/OpenCvLoader.java index 35eccbdea7..e286e6af2d 100644 --- a/cscore/src/main/java/org/wpilib/vision/camera/OpenCvLoader.java +++ b/cscore/src/main/java/org/wpilib/vision/camera/OpenCvLoader.java @@ -4,10 +4,10 @@ package org.wpilib.vision.camera; -import org.wpilib.util.runtime.RuntimeLoader; import java.io.IOException; import java.util.concurrent.atomic.AtomicBoolean; import org.opencv.core.Core; +import org.wpilib.util.runtime.RuntimeLoader; /** OpenCV Native Loader. */ public final class OpenCvLoader { diff --git a/cscore/src/main/java/org/wpilib/vision/camera/VideoMode.java b/cscore/src/main/java/org/wpilib/vision/camera/VideoMode.java index 2f9c436584..24f9e98fe6 100644 --- a/cscore/src/main/java/org/wpilib/vision/camera/VideoMode.java +++ b/cscore/src/main/java/org/wpilib/vision/camera/VideoMode.java @@ -4,8 +4,8 @@ package org.wpilib.vision.camera; -import org.wpilib.util.PixelFormat; import java.util.Objects; +import org.wpilib.util.PixelFormat; /** Video mode. */ @SuppressWarnings("MemberName") diff --git a/cscore/src/main/java/org/wpilib/vision/camera/raw/RawSink.java b/cscore/src/main/java/org/wpilib/vision/camera/raw/RawSink.java index a9010a9203..fc5f9f6569 100644 --- a/cscore/src/main/java/org/wpilib/vision/camera/raw/RawSink.java +++ b/cscore/src/main/java/org/wpilib/vision/camera/raw/RawSink.java @@ -4,9 +4,9 @@ package org.wpilib.vision.camera.raw; +import org.wpilib.util.RawFrame; import org.wpilib.vision.camera.CameraServerJNI; import org.wpilib.vision.camera.ImageSink; -import org.wpilib.util.RawFrame; /** * A sink for user code to accept video frames as raw bytes. diff --git a/cscore/src/main/java/org/wpilib/vision/camera/raw/RawSource.java b/cscore/src/main/java/org/wpilib/vision/camera/raw/RawSource.java index 5998c6a320..58f3af1cbd 100644 --- a/cscore/src/main/java/org/wpilib/vision/camera/raw/RawSource.java +++ b/cscore/src/main/java/org/wpilib/vision/camera/raw/RawSource.java @@ -4,12 +4,12 @@ package org.wpilib.vision.camera.raw; +import java.nio.ByteBuffer; +import org.wpilib.util.PixelFormat; +import org.wpilib.util.RawFrame; import org.wpilib.vision.camera.CameraServerJNI; import org.wpilib.vision.camera.ImageSource; import org.wpilib.vision.camera.VideoMode; -import org.wpilib.util.PixelFormat; -import org.wpilib.util.RawFrame; -import java.nio.ByteBuffer; /** * A source for user code to provide video frames as raw bytes. diff --git a/cscore/src/test/java/org/wpilib/vision/camera/VideoModeTest.java b/cscore/src/test/java/org/wpilib/vision/camera/VideoModeTest.java index c3f768e7e9..1cbe5370dd 100644 --- a/cscore/src/test/java/org/wpilib/vision/camera/VideoModeTest.java +++ b/cscore/src/test/java/org/wpilib/vision/camera/VideoModeTest.java @@ -7,8 +7,8 @@ package org.wpilib.vision.camera; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; -import org.wpilib.util.PixelFormat; import org.junit.jupiter.api.Test; +import org.wpilib.util.PixelFormat; class VideoModeTest { @Test diff --git a/datalog/src/main/java/org/wpilib/datalog/DataLog.java b/datalog/src/main/java/org/wpilib/datalog/DataLog.java index 5c33a774d8..d66303a584 100644 --- a/datalog/src/main/java/org/wpilib/datalog/DataLog.java +++ b/datalog/src/main/java/org/wpilib/datalog/DataLog.java @@ -4,14 +4,14 @@ package org.wpilib.datalog; -import org.wpilib.util.WPIUtilJNI; -import org.wpilib.util.protobuf.Protobuf; -import org.wpilib.util.struct.Struct; import java.nio.ByteBuffer; import java.util.HashSet; import java.util.Set; import java.util.concurrent.ConcurrentHashMap; import java.util.concurrent.ConcurrentMap; +import org.wpilib.util.WPIUtilJNI; +import org.wpilib.util.protobuf.Protobuf; +import org.wpilib.util.struct.Struct; /** * A data log for high-speed writing of data values. diff --git a/datalog/src/main/java/org/wpilib/datalog/DataLogJNI.java b/datalog/src/main/java/org/wpilib/datalog/DataLogJNI.java index e1fc495a2e..c51ae133ec 100644 --- a/datalog/src/main/java/org/wpilib/datalog/DataLogJNI.java +++ b/datalog/src/main/java/org/wpilib/datalog/DataLogJNI.java @@ -4,10 +4,10 @@ package org.wpilib.datalog; -import org.wpilib.util.runtime.RuntimeLoader; import java.io.IOException; import java.nio.ByteBuffer; import java.util.concurrent.atomic.AtomicBoolean; +import org.wpilib.util.runtime.RuntimeLoader; /** * DataLog JNI Functions. diff --git a/datalog/src/main/java/org/wpilib/datalog/ProtobufLogEntry.java b/datalog/src/main/java/org/wpilib/datalog/ProtobufLogEntry.java index 9d88266d2d..3b9c33cfc0 100644 --- a/datalog/src/main/java/org/wpilib/datalog/ProtobufLogEntry.java +++ b/datalog/src/main/java/org/wpilib/datalog/ProtobufLogEntry.java @@ -4,10 +4,10 @@ package org.wpilib.datalog; -import org.wpilib.util.protobuf.Protobuf; -import org.wpilib.util.protobuf.ProtobufBuffer; import java.io.IOException; import java.nio.ByteBuffer; +import org.wpilib.util.protobuf.Protobuf; +import org.wpilib.util.protobuf.ProtobufBuffer; import us.hebi.quickbuf.ProtoMessage; /** diff --git a/datalog/src/main/java/org/wpilib/datalog/StructArrayLogEntry.java b/datalog/src/main/java/org/wpilib/datalog/StructArrayLogEntry.java index 306ef845c0..630fd53ae0 100644 --- a/datalog/src/main/java/org/wpilib/datalog/StructArrayLogEntry.java +++ b/datalog/src/main/java/org/wpilib/datalog/StructArrayLogEntry.java @@ -4,12 +4,12 @@ package org.wpilib.datalog; -import org.wpilib.util.struct.Struct; -import org.wpilib.util.struct.StructBuffer; import java.lang.reflect.Array; import java.nio.ByteBuffer; import java.util.Arrays; import java.util.Collection; +import org.wpilib.util.struct.Struct; +import org.wpilib.util.struct.StructBuffer; /** * Log struct-encoded array values. diff --git a/datalog/src/main/java/org/wpilib/datalog/StructLogEntry.java b/datalog/src/main/java/org/wpilib/datalog/StructLogEntry.java index 3e71ad1164..d8dd228abd 100644 --- a/datalog/src/main/java/org/wpilib/datalog/StructLogEntry.java +++ b/datalog/src/main/java/org/wpilib/datalog/StructLogEntry.java @@ -4,9 +4,9 @@ package org.wpilib.datalog; +import java.nio.ByteBuffer; import org.wpilib.util.struct.Struct; import org.wpilib.util.struct.StructBuffer; -import java.nio.ByteBuffer; /** * Log struct-encoded values. diff --git a/datalog/src/printlog/java/printlog/PrintLog.java b/datalog/src/printlog/java/printlog/PrintLog.java index 76aef1c116..3fc004f396 100644 --- a/datalog/src/printlog/java/printlog/PrintLog.java +++ b/datalog/src/printlog/java/printlog/PrintLog.java @@ -4,8 +4,6 @@ package printlog; -import org.wpilib.datalog.DataLogReader; -import org.wpilib.datalog.DataLogRecord; import java.io.IOException; import java.time.LocalDateTime; import java.time.ZoneOffset; @@ -14,6 +12,8 @@ import java.util.HashMap; import java.util.InputMismatchException; import java.util.List; import java.util.Map; +import org.wpilib.datalog.DataLogReader; +import org.wpilib.datalog.DataLogRecord; public final class PrintLog { private static final DateTimeFormatter m_timeFormatter = diff --git a/datalog/src/test/java/org/wpilib/datalog/DataLogTest.java b/datalog/src/test/java/org/wpilib/datalog/DataLogTest.java index 759708a374..1e0f33acfe 100644 --- a/datalog/src/test/java/org/wpilib/datalog/DataLogTest.java +++ b/datalog/src/test/java/org/wpilib/datalog/DataLogTest.java @@ -9,14 +9,14 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.util.struct.Struct; -import org.wpilib.util.struct.StructSerializable; import java.io.ByteArrayOutputStream; import java.nio.ByteBuffer; import java.util.Objects; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.util.struct.Struct; +import org.wpilib.util.struct.StructSerializable; @SuppressWarnings("AvoidEscapedUnicodeCharacters") class DataLogTest { diff --git a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/AnnotationProcessor.java b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/AnnotationProcessor.java index b0991aebd7..6086e5b454 100644 --- a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/AnnotationProcessor.java +++ b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/AnnotationProcessor.java @@ -4,9 +4,6 @@ package org.wpilib.epilogue.processor; -import org.wpilib.epilogue.CustomLoggerFor; -import org.wpilib.epilogue.Logged; -import org.wpilib.epilogue.NotLogged; import java.io.IOException; import java.util.ArrayList; import java.util.Comparator; @@ -35,11 +32,11 @@ import javax.lang.model.type.NoType; import javax.lang.model.type.TypeKind; import javax.lang.model.type.TypeMirror; import javax.tools.Diagnostic; +import org.wpilib.epilogue.CustomLoggerFor; +import org.wpilib.epilogue.Logged; +import org.wpilib.epilogue.NotLogged; -@SupportedAnnotationTypes({ - "org.wpilib.epilogue.CustomLoggerFor", - "org.wpilib.epilogue.Logged" -}) +@SupportedAnnotationTypes({"org.wpilib.epilogue.CustomLoggerFor", "org.wpilib.epilogue.Logged"}) @SupportedSourceVersion(SourceVersion.RELEASE_21) public class AnnotationProcessor extends AbstractProcessor { private static final String kCustomLoggerFqn = "org.wpilib.epilogue.CustomLoggerFor"; diff --git a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/ElementHandler.java b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/ElementHandler.java index 0e237d4cee..bb9e42a17b 100644 --- a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/ElementHandler.java +++ b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/ElementHandler.java @@ -4,9 +4,6 @@ package org.wpilib.epilogue.processor; -import org.wpilib.epilogue.Logged; -import org.wpilib.epilogue.logging.ClassSpecificLogger; -import org.wpilib.epilogue.logging.EpilogueBackend; import javax.annotation.processing.ProcessingEnvironment; import javax.lang.model.element.Element; import javax.lang.model.element.ExecutableElement; @@ -16,6 +13,9 @@ import javax.lang.model.element.VariableElement; import javax.lang.model.type.TypeKind; import javax.lang.model.type.TypeMirror; import javax.lang.model.type.TypeVariable; +import org.wpilib.epilogue.Logged; +import org.wpilib.epilogue.logging.ClassSpecificLogger; +import org.wpilib.epilogue.logging.EpilogueBackend; /** * Handles logging of fields or methods. An element that passes the {@link #isLoggable(Element)} diff --git a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/EpilogueGenerator.java b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/EpilogueGenerator.java index 66399307de..4b96b77316 100644 --- a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/EpilogueGenerator.java +++ b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/EpilogueGenerator.java @@ -4,7 +4,6 @@ package org.wpilib.epilogue.processor; -import org.wpilib.epilogue.EpilogueConfiguration; import java.io.IOException; import java.io.PrintWriter; import java.util.Collection; @@ -14,13 +13,14 @@ import javax.annotation.processing.ProcessingEnvironment; import javax.lang.model.element.TypeElement; import javax.lang.model.type.DeclaredType; import javax.lang.model.type.TypeMirror; +import org.wpilib.epilogue.EpilogueConfiguration; /** * Generates the {@code Epilogue} file used as the main entry point to logging with Epilogue in a * robot program. {@code Epilogue} has instances of every generated logger class, a {@link * EpilogueConfiguration config} object, and (if the main robot class inherits from {@link - * org.wpilib.opmode.TimedRobot TimedRobot}) a {@code bind()} method to automatically add a - * periodic logging call to the robot. + * org.wpilib.opmode.TimedRobot TimedRobot}) a {@code bind()} method to automatically add a periodic + * logging call to the robot. */ public class EpilogueGenerator { private final ProcessingEnvironment m_processingEnv; diff --git a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/LoggableHandler.java b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/LoggableHandler.java index 990201c6c7..4fa075c6ec 100644 --- a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/LoggableHandler.java +++ b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/LoggableHandler.java @@ -4,7 +4,6 @@ package org.wpilib.epilogue.processor; -import org.wpilib.epilogue.Logged; import java.util.Collection; import java.util.Comparator; import java.util.Set; @@ -17,6 +16,7 @@ import javax.lang.model.element.TypeElement; import javax.lang.model.element.VariableElement; import javax.lang.model.type.TypeKind; import javax.lang.model.type.TypeMirror; +import org.wpilib.epilogue.Logged; /** Handles logging for types annotated with the {@link Logged @Logged} annotation. */ public class LoggableHandler extends ElementHandler { diff --git a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/LoggerGenerator.java b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/LoggerGenerator.java index d9ec03778f..79bec260d0 100644 --- a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/LoggerGenerator.java +++ b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/LoggerGenerator.java @@ -11,8 +11,6 @@ import com.sun.source.tree.IdentifierTree; import com.sun.source.tree.ReturnTree; import com.sun.source.util.SimpleTreeVisitor; import com.sun.source.util.Trees; -import org.wpilib.epilogue.Logged; -import org.wpilib.epilogue.NotLogged; import java.io.IOException; import java.io.PrintWriter; import java.lang.annotation.Annotation; @@ -38,6 +36,8 @@ import javax.lang.model.element.PackageElement; import javax.lang.model.element.TypeElement; import javax.lang.model.element.VariableElement; import javax.tools.Diagnostic; +import org.wpilib.epilogue.Logged; +import org.wpilib.epilogue.NotLogged; /** Generates logger class files for {@link Logged @Logged}-annotated classes. */ public class LoggerGenerator { @@ -104,9 +104,9 @@ public class LoggerGenerator { /** * Generates the logger class used to handle data objects of the given type. The generated logger - * class will subclass from {@link org.wpilib.epilogue.logging.ClassSpecificLogger} and - * implement the {@code update()} method to populate a data log with information from an instance - * of the data type. + * class will subclass from {@link org.wpilib.epilogue.logging.ClassSpecificLogger} and implement + * the {@code update()} method to populate a data log with information from an instance of the + * data type. * * @param clazz the data type that the logger should support. * @throws IOException if the file could not be written diff --git a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/SendableHandler.java b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/SendableHandler.java index 89e5ffad92..7692979ed0 100644 --- a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/SendableHandler.java +++ b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/SendableHandler.java @@ -19,16 +19,13 @@ public class SendableHandler extends ElementHandler { super(processingEnv); m_sendableType = - Optional.ofNullable( - lookupTypeElement(processingEnv, "org.wpilib.util.sendable.Sendable")) + Optional.ofNullable(lookupTypeElement(processingEnv, "org.wpilib.util.sendable.Sendable")) .map(TypeElement::asType); m_commandType = - Optional.ofNullable( - lookupTypeElement(processingEnv, "org.wpilib.command2.Command")) + Optional.ofNullable(lookupTypeElement(processingEnv, "org.wpilib.command2.Command")) .map(TypeElement::asType); m_subsystemType = - Optional.ofNullable( - lookupTypeElement(processingEnv, "org.wpilib.command2.SubsystemBase")) + Optional.ofNullable(lookupTypeElement(processingEnv, "org.wpilib.command2.SubsystemBase")) .map(TypeElement::asType); } diff --git a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/StringUtils.java b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/StringUtils.java index 7d6198b3ba..94a463e1dc 100644 --- a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/StringUtils.java +++ b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/StringUtils.java @@ -4,7 +4,6 @@ package org.wpilib.epilogue.processor; -import org.wpilib.epilogue.Logged; import java.util.ArrayDeque; import java.util.Arrays; import java.util.Deque; @@ -13,6 +12,7 @@ import java.util.stream.Collectors; import javax.lang.model.element.Element; import javax.lang.model.element.PackageElement; import javax.lang.model.element.TypeElement; +import org.wpilib.epilogue.Logged; public final class StringUtils { private StringUtils() { diff --git a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/StructHandler.java b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/StructHandler.java index a4ab94154a..9bfdd36ec0 100644 --- a/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/StructHandler.java +++ b/epilogue-processor/src/main/java/org/wpilib/epilogue/processor/StructHandler.java @@ -32,8 +32,7 @@ public class StructHandler extends ElementHandler { .getElementUtils() .getTypeElement("org.wpilib.util.struct.StructSerializable") .asType(); - m_structType = - processingEnv.getElementUtils().getTypeElement("org.wpilib.util.struct.Struct"); + m_structType = processingEnv.getElementUtils().getTypeElement("org.wpilib.util.struct.Struct"); m_typeUtils = processingEnv.getTypeUtils(); m_elementUtils = processingEnv.getElementUtils(); } diff --git a/epilogue-processor/src/test/java/org/wpilib/epilogue/processor/AnnotationProcessorTest.java b/epilogue-processor/src/test/java/org/wpilib/epilogue/processor/AnnotationProcessorTest.java index 82a942de38..38921ac279 100644 --- a/epilogue-processor/src/test/java/org/wpilib/epilogue/processor/AnnotationProcessorTest.java +++ b/epilogue-processor/src/test/java/org/wpilib/epilogue/processor/AnnotationProcessorTest.java @@ -6,10 +6,10 @@ package org.wpilib.epilogue.processor; import static com.google.testing.compile.CompilationSubject.assertThat; import static com.google.testing.compile.Compiler.javac; -import static org.wpilib.epilogue.processor.CompileTestOptions.kJavaVersionOptions; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import static org.wpilib.epilogue.processor.CompileTestOptions.kJavaVersionOptions; import com.google.testing.compile.Compilation; import com.google.testing.compile.JavaFileObjects; @@ -2335,8 +2335,7 @@ class AnnotationProcessorTest { .withOptions(kJavaVersionOptions) .withProcessors(new AnnotationProcessor()) .compile( - JavaFileObjects.forSourceString( - "org.wpilib.epilogue.Example", loggedClassContent)); + JavaFileObjects.forSourceString("org.wpilib.epilogue.Example", loggedClassContent)); assertThat(compilation).succeeded(); var generatedFiles = compilation.generatedSourceFiles(); diff --git a/epilogue-processor/src/test/java/org/wpilib/epilogue/processor/EpilogueGeneratorTest.java b/epilogue-processor/src/test/java/org/wpilib/epilogue/processor/EpilogueGeneratorTest.java index de8e1db1e0..79c30c596c 100644 --- a/epilogue-processor/src/test/java/org/wpilib/epilogue/processor/EpilogueGeneratorTest.java +++ b/epilogue-processor/src/test/java/org/wpilib/epilogue/processor/EpilogueGeneratorTest.java @@ -6,8 +6,8 @@ package org.wpilib.epilogue.processor; import static com.google.testing.compile.CompilationSubject.assertThat; import static com.google.testing.compile.Compiler.javac; -import static org.wpilib.epilogue.processor.CompileTestOptions.kJavaVersionOptions; import static org.junit.jupiter.api.Assertions.assertEquals; +import static org.wpilib.epilogue.processor.CompileTestOptions.kJavaVersionOptions; import com.google.testing.compile.Compilation; import com.google.testing.compile.JavaFileObjects; diff --git a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/ClassSpecificLogger.java b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/ClassSpecificLogger.java index e990232e90..9dbec63717 100644 --- a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/ClassSpecificLogger.java +++ b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/ClassSpecificLogger.java @@ -4,12 +4,12 @@ package org.wpilib.epilogue.logging; +import java.util.LinkedHashMap; +import java.util.Map; import org.wpilib.epilogue.CustomLoggerFor; import org.wpilib.epilogue.logging.errors.ErrorHandler; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; -import java.util.LinkedHashMap; -import java.util.Map; /** * Base class for class-specific generated loggers. Loggers are generated at compile time by the diff --git a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/EpilogueBackend.java b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/EpilogueBackend.java index 46f152da1c..2397b96535 100644 --- a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/EpilogueBackend.java +++ b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/EpilogueBackend.java @@ -4,11 +4,11 @@ package org.wpilib.epilogue.logging; +import java.util.Collection; import org.wpilib.units.Measure; import org.wpilib.units.Unit; import org.wpilib.util.protobuf.Protobuf; import org.wpilib.util.struct.Struct; -import java.util.Collection; import us.hebi.quickbuf.ProtoMessage; /** A backend is a generic interface for Epilogue to log discrete data points. */ diff --git a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/FileBackend.java b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/FileBackend.java index 988fca86bf..b816e7df66 100644 --- a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/FileBackend.java +++ b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/FileBackend.java @@ -6,6 +6,11 @@ package org.wpilib.epilogue.logging; import static org.wpilib.util.ErrorMessages.requireNonNullParam; +import java.util.HashMap; +import java.util.HashSet; +import java.util.Map; +import java.util.Set; +import java.util.function.BiFunction; import org.wpilib.datalog.BooleanArrayLogEntry; import org.wpilib.datalog.BooleanLogEntry; import org.wpilib.datalog.DataLog; @@ -24,11 +29,6 @@ import org.wpilib.datalog.StructArrayLogEntry; import org.wpilib.datalog.StructLogEntry; import org.wpilib.util.protobuf.Protobuf; import org.wpilib.util.struct.Struct; -import java.util.HashMap; -import java.util.HashSet; -import java.util.Map; -import java.util.Set; -import java.util.function.BiFunction; import us.hebi.quickbuf.ProtoMessage; /** A backend implementation that saves information to a WPILib {@link DataLog} file on disk. */ diff --git a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/LazyBackend.java b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/LazyBackend.java index 9aee749256..67640344df 100644 --- a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/LazyBackend.java +++ b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/LazyBackend.java @@ -4,12 +4,12 @@ package org.wpilib.epilogue.logging; -import org.wpilib.util.protobuf.Protobuf; -import org.wpilib.util.struct.Struct; import java.util.Arrays; import java.util.HashMap; import java.util.Map; import java.util.Objects; +import org.wpilib.util.protobuf.Protobuf; +import org.wpilib.util.struct.Struct; import us.hebi.quickbuf.ProtoMessage; /** diff --git a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/LogBackedSendableBuilder.java b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/LogBackedSendableBuilder.java index 1d50910a6c..8c4b59624a 100644 --- a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/LogBackedSendableBuilder.java +++ b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/LogBackedSendableBuilder.java @@ -4,10 +4,6 @@ package org.wpilib.epilogue.logging; -import org.wpilib.util.function.BooleanConsumer; -import org.wpilib.util.function.FloatConsumer; -import org.wpilib.util.function.FloatSupplier; -import org.wpilib.util.sendable.SendableBuilder; import java.util.ArrayList; import java.util.Collection; import java.util.function.BooleanSupplier; @@ -17,6 +13,10 @@ import java.util.function.DoubleSupplier; import java.util.function.LongConsumer; import java.util.function.LongSupplier; import java.util.function.Supplier; +import org.wpilib.util.function.BooleanConsumer; +import org.wpilib.util.function.FloatConsumer; +import org.wpilib.util.function.FloatSupplier; +import org.wpilib.util.sendable.SendableBuilder; /** A sendable builder implementation that sends data to a {@link EpilogueBackend}. */ public class LogBackedSendableBuilder implements SendableBuilder { diff --git a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/MultiBackend.java b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/MultiBackend.java index cab80982cb..65b7f5b0ff 100644 --- a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/MultiBackend.java +++ b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/MultiBackend.java @@ -4,11 +4,11 @@ package org.wpilib.epilogue.logging; -import org.wpilib.util.protobuf.Protobuf; -import org.wpilib.util.struct.Struct; import java.util.HashMap; import java.util.List; import java.util.Map; +import org.wpilib.util.protobuf.Protobuf; +import org.wpilib.util.struct.Struct; import us.hebi.quickbuf.ProtoMessage; /** diff --git a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/NTEpilogueBackend.java b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/NTEpilogueBackend.java index d8817512df..aa8386af24 100644 --- a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/NTEpilogueBackend.java +++ b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/NTEpilogueBackend.java @@ -4,6 +4,11 @@ package org.wpilib.epilogue.logging; +import java.util.HashMap; +import java.util.HashSet; +import java.util.Map; +import java.util.Set; +import java.util.function.Function; import org.wpilib.networktables.BooleanArrayPublisher; import org.wpilib.networktables.BooleanPublisher; import org.wpilib.networktables.DoubleArrayPublisher; @@ -22,11 +27,6 @@ import org.wpilib.networktables.StructArrayPublisher; import org.wpilib.networktables.StructPublisher; import org.wpilib.util.protobuf.Protobuf; import org.wpilib.util.struct.Struct; -import java.util.HashMap; -import java.util.HashSet; -import java.util.Map; -import java.util.Set; -import java.util.function.Function; import us.hebi.quickbuf.ProtoMessage; /** diff --git a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/NestedBackend.java b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/NestedBackend.java index becdeeed0d..ca6a0fab3e 100644 --- a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/NestedBackend.java +++ b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/NestedBackend.java @@ -4,10 +4,10 @@ package org.wpilib.epilogue.logging; -import org.wpilib.util.protobuf.Protobuf; -import org.wpilib.util.struct.Struct; import java.util.HashMap; import java.util.Map; +import org.wpilib.util.protobuf.Protobuf; +import org.wpilib.util.struct.Struct; import us.hebi.quickbuf.ProtoMessage; /** diff --git a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/errors/LoggerDisabler.java b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/errors/LoggerDisabler.java index fda344fd8b..0c7272f39a 100644 --- a/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/errors/LoggerDisabler.java +++ b/epilogue-runtime/src/main/java/org/wpilib/epilogue/logging/errors/LoggerDisabler.java @@ -4,9 +4,9 @@ package org.wpilib.epilogue.logging.errors; -import org.wpilib.epilogue.logging.ClassSpecificLogger; import java.util.HashMap; import java.util.Map; +import org.wpilib.epilogue.logging.ClassSpecificLogger; /** * An error handler that disables loggers after too many exceptions are raised. Useful when playing diff --git a/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/ClassSpecificLoggerTest.java b/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/ClassSpecificLoggerTest.java index 3bd0cdd65f..ebecc49c79 100644 --- a/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/ClassSpecificLoggerTest.java +++ b/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/ClassSpecificLoggerTest.java @@ -6,9 +6,9 @@ package org.wpilib.epilogue.logging; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.epilogue.Logged; import java.util.List; import org.junit.jupiter.api.Test; +import org.wpilib.epilogue.Logged; class ClassSpecificLoggerTest { @Logged diff --git a/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/CustomStruct.java b/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/CustomStruct.java index 55c0eeed8a..06c5b65772 100644 --- a/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/CustomStruct.java +++ b/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/CustomStruct.java @@ -4,9 +4,9 @@ package org.wpilib.epilogue.logging; +import java.nio.ByteBuffer; import org.wpilib.util.struct.Struct; import org.wpilib.util.struct.StructSerializable; -import java.nio.ByteBuffer; public record CustomStruct(int x) implements StructSerializable { public static final Serializer struct = new Serializer(); diff --git a/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/LazyBackendTest.java b/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/LazyBackendTest.java index 5bc5ab8ba5..075f1b4bd5 100644 --- a/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/LazyBackendTest.java +++ b/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/LazyBackendTest.java @@ -8,9 +8,9 @@ import static org.junit.jupiter.api.Assertions.assertArrayEquals; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertSame; -import org.wpilib.math.geometry.Rotation2d; import java.util.List; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Rotation2d; class LazyBackendTest { @Test diff --git a/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/TestBackend.java b/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/TestBackend.java index 62b05dc1a6..10cdee94cd 100644 --- a/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/TestBackend.java +++ b/epilogue-runtime/src/test/java/org/wpilib/epilogue/logging/TestBackend.java @@ -4,13 +4,13 @@ package org.wpilib.epilogue.logging; -import org.wpilib.util.protobuf.Protobuf; -import org.wpilib.util.struct.Struct; -import org.wpilib.util.struct.StructBuffer; import java.util.ArrayList; import java.util.HashMap; import java.util.List; import java.util.Map; +import org.wpilib.util.protobuf.Protobuf; +import org.wpilib.util.struct.Struct; +import org.wpilib.util.struct.StructBuffer; import us.hebi.quickbuf.ProtoMessage; @SuppressWarnings("PMD.TestClassWithoutTestCases") // This is not a test class! diff --git a/hal/src/main/java/org/wpilib/hardware/hal/JNIWrapper.java b/hal/src/main/java/org/wpilib/hardware/hal/JNIWrapper.java index 16009ada78..3067f790f6 100644 --- a/hal/src/main/java/org/wpilib/hardware/hal/JNIWrapper.java +++ b/hal/src/main/java/org/wpilib/hardware/hal/JNIWrapper.java @@ -4,9 +4,9 @@ package org.wpilib.hardware.hal; -import org.wpilib.util.runtime.RuntimeLoader; import java.io.IOException; import java.util.concurrent.atomic.AtomicBoolean; +import org.wpilib.util.runtime.RuntimeLoader; /** Base class for all JNI wrappers. */ public class JNIWrapper { diff --git a/ntcore/src/main/java/org/wpilib/networktables/NetworkTable.java b/ntcore/src/main/java/org/wpilib/networktables/NetworkTable.java index eb27b6d922..de70e8bed6 100644 --- a/ntcore/src/main/java/org/wpilib/networktables/NetworkTable.java +++ b/ntcore/src/main/java/org/wpilib/networktables/NetworkTable.java @@ -4,8 +4,6 @@ package org.wpilib.networktables; -import org.wpilib.util.protobuf.Protobuf; -import org.wpilib.util.struct.Struct; import java.util.ArrayList; import java.util.EnumSet; import java.util.HashSet; @@ -15,6 +13,8 @@ import java.util.Set; import java.util.concurrent.ConcurrentHashMap; import java.util.concurrent.ConcurrentMap; import java.util.function.Consumer; +import org.wpilib.util.protobuf.Protobuf; +import org.wpilib.util.struct.Struct; import us.hebi.quickbuf.ProtoMessage; /** A network table that knows its subtable path. */ diff --git a/ntcore/src/main/java/org/wpilib/networktables/ProtobufEntryImpl.java b/ntcore/src/main/java/org/wpilib/networktables/ProtobufEntryImpl.java index 67ba79fd9d..411e0c39e5 100644 --- a/ntcore/src/main/java/org/wpilib/networktables/ProtobufEntryImpl.java +++ b/ntcore/src/main/java/org/wpilib/networktables/ProtobufEntryImpl.java @@ -4,10 +4,10 @@ package org.wpilib.networktables; -import org.wpilib.util.protobuf.ProtobufBuffer; import java.io.IOException; import java.lang.reflect.Array; import java.nio.ByteBuffer; +import org.wpilib.util.protobuf.ProtobufBuffer; /** * NetworkTables protobuf-encoded value implementation. diff --git a/ntcore/src/main/java/org/wpilib/networktables/StructArrayEntryImpl.java b/ntcore/src/main/java/org/wpilib/networktables/StructArrayEntryImpl.java index e98b35bfe9..48c64b75e4 100644 --- a/ntcore/src/main/java/org/wpilib/networktables/StructArrayEntryImpl.java +++ b/ntcore/src/main/java/org/wpilib/networktables/StructArrayEntryImpl.java @@ -4,9 +4,9 @@ package org.wpilib.networktables; -import org.wpilib.util.struct.StructBuffer; import java.lang.reflect.Array; import java.nio.ByteBuffer; +import org.wpilib.util.struct.StructBuffer; /** * NetworkTables struct-encoded value implementation. diff --git a/ntcore/src/main/java/org/wpilib/networktables/StructEntryImpl.java b/ntcore/src/main/java/org/wpilib/networktables/StructEntryImpl.java index f5c5abbba6..01df956e65 100644 --- a/ntcore/src/main/java/org/wpilib/networktables/StructEntryImpl.java +++ b/ntcore/src/main/java/org/wpilib/networktables/StructEntryImpl.java @@ -4,9 +4,9 @@ package org.wpilib.networktables; -import org.wpilib.util.struct.StructBuffer; import java.lang.reflect.Array; import java.nio.ByteBuffer; +import org.wpilib.util.struct.StructBuffer; /** * NetworkTables struct-encoded value implementation. diff --git a/ntcore/src/test/java/org/wpilib/networktables/ConnectionListenerTest.java b/ntcore/src/test/java/org/wpilib/networktables/ConnectionListenerTest.java index c6fb4f016a..464a1f0cab 100644 --- a/ntcore/src/test/java/org/wpilib/networktables/ConnectionListenerTest.java +++ b/ntcore/src/test/java/org/wpilib/networktables/ConnectionListenerTest.java @@ -11,7 +11,6 @@ import static org.junit.jupiter.api.Assertions.assertNotSame; import static org.junit.jupiter.api.Assertions.assertTrue; import static org.junit.jupiter.api.Assertions.fail; -import org.wpilib.util.WPIUtilJNI; import java.util.ArrayList; import java.util.EnumSet; import java.util.List; @@ -20,6 +19,7 @@ import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.ValueSource; +import org.wpilib.util.WPIUtilJNI; class ConnectionListenerTest { private NetworkTableInstance m_serverInst; diff --git a/ntcore/src/test/java/org/wpilib/networktables/TopicListenerTest.java b/ntcore/src/test/java/org/wpilib/networktables/TopicListenerTest.java index 091bfd107b..02b5448ae5 100644 --- a/ntcore/src/test/java/org/wpilib/networktables/TopicListenerTest.java +++ b/ntcore/src/test/java/org/wpilib/networktables/TopicListenerTest.java @@ -9,12 +9,12 @@ import static org.junit.jupiter.api.Assertions.assertNotNull; import static org.junit.jupiter.api.Assertions.assertTrue; import static org.junit.jupiter.api.Assertions.fail; -import org.wpilib.util.WPIUtilJNI; import java.util.EnumSet; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Disabled; import org.junit.jupiter.api.Test; +import org.wpilib.util.WPIUtilJNI; class TopicListenerTest { private NetworkTableInstance m_serverInst; diff --git a/romiVendordep/src/main/java/org/wpilib/romi/OnBoardIO.java b/romiVendordep/src/main/java/org/wpilib/romi/OnBoardIO.java index ac92228870..7158719b97 100644 --- a/romiVendordep/src/main/java/org/wpilib/romi/OnBoardIO.java +++ b/romiVendordep/src/main/java/org/wpilib/romi/OnBoardIO.java @@ -4,9 +4,9 @@ package org.wpilib.romi; +import org.wpilib.driverstation.DriverStation; import org.wpilib.hardware.discrete.DigitalInput; import org.wpilib.hardware.discrete.DigitalOutput; -import org.wpilib.driverstation.DriverStation; import org.wpilib.system.Timer; /** diff --git a/wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java b/wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java index 281c579bae..8357a8ebb1 100644 --- a/wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java +++ b/wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java @@ -6,13 +6,13 @@ package org.wpilib.drive; import static org.wpilib.util.ErrorMessages.requireNonNullParam; +import java.util.function.DoubleConsumer; import org.wpilib.hardware.hal.HAL; +import org.wpilib.hardware.motor.MotorController; import org.wpilib.math.util.MathUtil; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.hardware.motor.MotorController; -import java.util.function.DoubleConsumer; /** * A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive @@ -43,12 +43,13 @@ import java.util.function.DoubleConsumer; * positive Z axis points up. Rotations follow the right-hand rule, so counterclockwise rotation * around the Z axis is positive. * - *

Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will - * be set to 0, and larger values will be scaled so that the full range is still used. This deadband - * value can be changed with {@link #setDeadband}. + *

Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will be set to + * 0, and larger values will be scaled so that the full range is still used. This deadband value can + * be changed with {@link #setDeadband}. * - *

{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The tankDrive, arcadeDrive, - * or curvatureDrive methods should be called periodically to avoid Motor Safety timeouts. + *

{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The tankDrive, + * arcadeDrive, or curvatureDrive methods should be called periodically to avoid Motor Safety + * timeouts. */ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable { private static int instances; @@ -94,8 +95,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC * Construct a DifferentialDrive. * *

To pass multiple motors per side, use CAN motor controller followers or {@link - * org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a - * motor needs to be inverted, do so before passing it in. + * org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a motor needs + * to be inverted, do so before passing it in. * * @param leftMotor Left motor. * @param rightMotor Right motor. @@ -111,8 +112,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC * Construct a DifferentialDrive. * *

To pass multiple motors per side, use CAN motor controller followers or {@link - * org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a - * motor needs to be inverted, do so before passing it in. + * org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a motor needs + * to be inverted, do so before passing it in. * * @param leftMotor Left motor setter. * @param rightMotor Right motor setter. diff --git a/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java b/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java index 46597ddab9..49e107040a 100644 --- a/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java +++ b/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java @@ -6,15 +6,15 @@ package org.wpilib.drive; import static org.wpilib.util.ErrorMessages.requireNonNullParam; +import java.util.function.DoubleConsumer; import org.wpilib.hardware.hal.HAL; -import org.wpilib.math.util.MathUtil; +import org.wpilib.hardware.motor.MotorController; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; +import org.wpilib.math.util.MathUtil; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.hardware.motor.MotorController; -import java.util.function.DoubleConsumer; /** * A class for driving Mecanum drive platforms. @@ -42,9 +42,9 @@ import java.util.function.DoubleConsumer; * positive Z axis points up. Rotations follow the right-hand rule, so counterclockwise rotation * around the Z axis is positive. * - *

Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will - * be set to 0, and larger values will be scaled so that the full range is still used. This deadband - * value can be changed with {@link #setDeadband}. + *

Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will be set to + * 0, and larger values will be scaled so that the full range is still used. This deadband value can + * be changed with {@link #setDeadband}. * *

{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The driveCartesian or * drivePolar methods should be called periodically to avoid Motor Safety timeouts. diff --git a/wpilibj/src/main/java/org/wpilib/driverstation/DSControlWord.java b/wpilibj/src/main/java/org/wpilib/driverstation/DSControlWord.java index 0a70aacfd4..0b68001c0f 100644 --- a/wpilibj/src/main/java/org/wpilib/driverstation/DSControlWord.java +++ b/wpilibj/src/main/java/org/wpilib/driverstation/DSControlWord.java @@ -4,7 +4,6 @@ package org.wpilib.driverstation; -import org.wpilib.driverstation.DriverStation; import org.wpilib.hardware.hal.ControlWord; /** A wrapper around Driver Station control word. */ diff --git a/wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java b/wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java index fcb94c391e..683238704b 100644 --- a/wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java +++ b/wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java @@ -4,6 +4,11 @@ package org.wpilib.driverstation; +import java.util.Map; +import java.util.Optional; +import java.util.OptionalDouble; +import java.util.OptionalInt; +import java.util.concurrent.locks.ReentrantLock; import org.wpilib.datalog.BooleanArrayLogEntry; import org.wpilib.datalog.BooleanLogEntry; import org.wpilib.datalog.DataLog; @@ -20,14 +25,9 @@ import org.wpilib.networktables.IntegerPublisher; import org.wpilib.networktables.NetworkTableInstance; import org.wpilib.networktables.StringPublisher; import org.wpilib.networktables.StringTopic; -import org.wpilib.util.concurrent.EventVector; import org.wpilib.system.Timer; import org.wpilib.util.WPIUtilJNI; -import java.util.Map; -import java.util.Optional; -import java.util.OptionalDouble; -import java.util.OptionalInt; -import java.util.concurrent.locks.ReentrantLock; +import org.wpilib.util.concurrent.EventVector; /** Provide access to the network communication data to / from the Driver Station. */ public final class DriverStation { diff --git a/wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java b/wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java index d53036f28d..c8d3f4b682 100644 --- a/wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java +++ b/wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java @@ -4,11 +4,11 @@ package org.wpilib.driverstation; +import org.wpilib.event.BooleanEvent; +import org.wpilib.event.EventLoop; import org.wpilib.hardware.hal.HAL; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; -import org.wpilib.event.BooleanEvent; -import org.wpilib.event.EventLoop; /** * Handle input from Gamepad controllers connected to the Driver Station. diff --git a/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java b/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java index e2f289ebf8..c800b721c8 100644 --- a/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java +++ b/wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java @@ -4,13 +4,13 @@ package org.wpilib.driverstation; -import org.wpilib.hardware.hal.DriverStationJNI; -import org.wpilib.math.util.Pair; +import java.util.HashMap; +import java.util.Map; import org.wpilib.driverstation.DriverStation.POVDirection; import org.wpilib.event.BooleanEvent; import org.wpilib.event.EventLoop; -import java.util.HashMap; -import java.util.Map; +import org.wpilib.hardware.hal.DriverStationJNI; +import org.wpilib.math.util.Pair; /** * Handle input from standard HID devices connected to the Driver Station. diff --git a/wpilibj/src/main/java/org/wpilib/driverstation/Joystick.java b/wpilibj/src/main/java/org/wpilib/driverstation/Joystick.java index 413dc39546..84c6aeb9f2 100644 --- a/wpilibj/src/main/java/org/wpilib/driverstation/Joystick.java +++ b/wpilibj/src/main/java/org/wpilib/driverstation/Joystick.java @@ -4,9 +4,9 @@ package org.wpilib.driverstation; -import org.wpilib.hardware.hal.HAL; import org.wpilib.event.BooleanEvent; import org.wpilib.event.EventLoop; +import org.wpilib.hardware.hal.HAL; /** * Handle input from Flight Joysticks connected to the Driver Station. diff --git a/wpilibj/src/main/java/org/wpilib/event/BooleanEvent.java b/wpilibj/src/main/java/org/wpilib/event/BooleanEvent.java index 5aeaddc700..4c0ef03d32 100644 --- a/wpilibj/src/main/java/org/wpilib/event/BooleanEvent.java +++ b/wpilibj/src/main/java/org/wpilib/event/BooleanEvent.java @@ -7,11 +7,11 @@ package org.wpilib.event; import static org.wpilib.units.Units.Seconds; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.math.filter.Debouncer; -import org.wpilib.units.measure.Time; import java.util.concurrent.atomic.AtomicBoolean; import java.util.function.BiFunction; import java.util.function.BooleanSupplier; +import org.wpilib.math.filter.Debouncer; +import org.wpilib.units.measure.Time; /** * This class provides an easy way to link actions to active high logic signals. Each object diff --git a/wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java b/wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java index 2aae25ff2b..3b2759dc2f 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java @@ -4,6 +4,8 @@ package org.wpilib.hardware.accelerometer; +import java.nio.ByteBuffer; +import java.nio.ByteOrder; import org.wpilib.hardware.bus.I2C; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.SimDevice; @@ -14,8 +16,6 @@ import org.wpilib.networktables.DoubleTopic; import org.wpilib.networktables.NTSendable; import org.wpilib.networktables.NTSendableBuilder; import org.wpilib.util.sendable.SendableRegistry; -import java.nio.ByteBuffer; -import java.nio.ByteOrder; /** ADXL345 I2C Accelerometer. */ @SuppressWarnings("TypeName") diff --git a/wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java b/wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java index fd78cbce7a..c297b11b38 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java @@ -4,11 +4,11 @@ package org.wpilib.hardware.bus; +import java.io.Closeable; import org.wpilib.hardware.hal.CANAPIJNI; import org.wpilib.hardware.hal.CANAPITypes; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.can.CANReceiveMessage; -import java.io.Closeable; /** * High level class for interfacing with CAN devices conforming to the standard CAN spec. diff --git a/wpilibj/src/main/java/org/wpilib/hardware/bus/I2C.java b/wpilibj/src/main/java/org/wpilib/hardware/bus/I2C.java index 590eb1f2e0..9f88de06a4 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/bus/I2C.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/bus/I2C.java @@ -6,10 +6,10 @@ package org.wpilib.hardware.bus; import static org.wpilib.util.ErrorMessages.requireNonNullParam; +import java.nio.ByteBuffer; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.I2CJNI; import org.wpilib.hardware.hal.util.BoundaryException; -import java.nio.ByteBuffer; /** * I2C bus interface class. diff --git a/wpilibj/src/main/java/org/wpilib/hardware/bus/SerialPort.java b/wpilibj/src/main/java/org/wpilib/hardware/bus/SerialPort.java index 6766cade20..3a577ca61c 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/bus/SerialPort.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/bus/SerialPort.java @@ -4,9 +4,9 @@ package org.wpilib.hardware.bus; +import java.nio.charset.StandardCharsets; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.SerialPortJNI; -import java.nio.charset.StandardCharsets; /** Driver for the serial ports (USB, MXP, Onboard) on the roboRIO. */ public class SerialPort implements AutoCloseable { diff --git a/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java b/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java index 73efff3b04..1da94ca8da 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java @@ -4,10 +4,10 @@ package org.wpilib.hardware.discrete; -import org.wpilib.system.SensorUtil; import org.wpilib.hardware.hal.DIOJNI; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.SimDevice; +import org.wpilib.system.SensorUtil; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; import org.wpilib.util.sendable.SendableRegistry; diff --git a/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java b/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java index ff90b81e92..dfa6eabda7 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java @@ -4,10 +4,10 @@ package org.wpilib.hardware.discrete; -import org.wpilib.system.SensorUtil; import org.wpilib.hardware.hal.DIOJNI; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.SimDevice; +import org.wpilib.system.SensorUtil; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; import org.wpilib.util.sendable.SendableRegistry; diff --git a/wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java b/wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java index 1638e3cf90..b23eb4d849 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java @@ -4,10 +4,10 @@ package org.wpilib.hardware.discrete; -import org.wpilib.system.SensorUtil; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.PWMJNI; import org.wpilib.hardware.hal.SimDevice; +import org.wpilib.system.SensorUtil; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; import org.wpilib.util.sendable.SendableRegistry; diff --git a/wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java b/wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java index 04f068b907..51de594e64 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java @@ -9,6 +9,10 @@ import static org.wpilib.units.Units.Microsecond; import static org.wpilib.units.Units.Microseconds; import static org.wpilib.units.Units.Value; +import java.util.Map; +import java.util.Objects; +import java.util.function.BooleanSupplier; +import java.util.function.DoubleSupplier; import org.wpilib.driverstation.DriverStation; import org.wpilib.system.RobotController; import org.wpilib.units.collections.LongToObjectHashMap; @@ -17,12 +21,8 @@ import org.wpilib.units.measure.Distance; import org.wpilib.units.measure.Frequency; import org.wpilib.units.measure.LinearVelocity; import org.wpilib.units.measure.Time; -import org.wpilib.util.WPIUtilJNI; import org.wpilib.util.Color; -import java.util.Map; -import java.util.Objects; -import java.util.function.BooleanSupplier; -import java.util.function.DoubleSupplier; +import org.wpilib.util.WPIUtilJNI; /** * An LED pattern controls lights on an LED strip to command patterns of color that may change over diff --git a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java b/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java index bd8cd68b1f..0eb31d61df 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java @@ -6,8 +6,8 @@ package org.wpilib.hardware.motor; import static org.wpilib.units.Units.Volts; -import org.wpilib.units.measure.Voltage; import org.wpilib.system.RobotController; +import org.wpilib.units.measure.Voltage; /** Interface for motor controlling devices. */ public interface MotorController { diff --git a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java b/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java index ca955fe21b..71368214ed 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java @@ -4,10 +4,10 @@ package org.wpilib.hardware.motor; +import java.util.Arrays; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; import org.wpilib.util.sendable.SendableRegistry; -import java.util.Arrays; /** * Allows multiple {@link MotorController} objects to be linked together. diff --git a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java b/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java index b08499611f..3a89e38b1f 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java @@ -4,14 +4,14 @@ package org.wpilib.hardware.motor; +import java.util.LinkedHashSet; +import java.util.Set; import org.wpilib.driverstation.DriverStation; import org.wpilib.hardware.hal.ControlWord; import org.wpilib.hardware.hal.DriverStationJNI; import org.wpilib.opmode.RobotState; import org.wpilib.system.Timer; import org.wpilib.util.WPIUtilJNI; -import java.util.LinkedHashSet; -import java.util.Set; /** * The Motor Safety feature acts as a watchdog timer for an individual motor. It operates by diff --git a/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java b/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java index 5fd3b6d665..718ed5443b 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java @@ -4,16 +4,15 @@ package org.wpilib.hardware.motor; +import java.util.ArrayList; +import org.wpilib.hardware.discrete.PWM; import org.wpilib.hardware.hal.SimDevice; import org.wpilib.hardware.hal.SimDevice.Direction; import org.wpilib.hardware.hal.SimDouble; +import org.wpilib.system.RobotController; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.hardware.motor.MotorSafety; -import org.wpilib.hardware.discrete.PWM; -import org.wpilib.system.RobotController; -import java.util.ArrayList; /** Common base class for all PWM Motor Controllers. */ @SuppressWarnings("removal") diff --git a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java index a95cfd9296..63d6a82f10 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java @@ -4,15 +4,15 @@ package org.wpilib.hardware.pneumatic; -import org.wpilib.system.SensorUtil; +import java.util.HashMap; +import java.util.Map; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.PortsJNI; import org.wpilib.hardware.hal.REVPHFaults; import org.wpilib.hardware.hal.REVPHJNI; import org.wpilib.hardware.hal.REVPHStickyFaults; import org.wpilib.hardware.hal.REVPHVersion; -import java.util.HashMap; -import java.util.Map; +import org.wpilib.system.SensorUtil; /** Module class for controlling a REV Robotics Pneumatic Hub. */ public class PneumaticHub implements PneumaticsBase { diff --git a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java index 61b4607bcc..e0243f3478 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java @@ -4,12 +4,12 @@ package org.wpilib.hardware.pneumatic; -import org.wpilib.system.SensorUtil; +import java.util.HashMap; +import java.util.Map; import org.wpilib.hardware.hal.CTREPCMJNI; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.PortsJNI; -import java.util.HashMap; -import java.util.Map; +import org.wpilib.system.SensorUtil; /** Module class for controlling a Cross The Road Electronics Pneumatics Control Module. */ public class PneumaticsControlModule implements PneumaticsBase { diff --git a/wpilibj/src/main/java/org/wpilib/internal/DriverStationModeThread.java b/wpilibj/src/main/java/org/wpilib/internal/DriverStationModeThread.java index dc40d44435..945e7c1e18 100644 --- a/wpilibj/src/main/java/org/wpilib/internal/DriverStationModeThread.java +++ b/wpilibj/src/main/java/org/wpilib/internal/DriverStationModeThread.java @@ -4,10 +4,10 @@ package org.wpilib.internal; +import java.util.concurrent.atomic.AtomicBoolean; +import org.wpilib.driverstation.DriverStation; import org.wpilib.hardware.hal.DriverStationJNI; import org.wpilib.util.WPIUtilJNI; -import org.wpilib.driverstation.DriverStation; -import java.util.concurrent.atomic.AtomicBoolean; /** For internal use only. */ public class DriverStationModeThread implements AutoCloseable { diff --git a/wpilibj/src/main/java/org/wpilib/opmode/RobotBase.java b/wpilibj/src/main/java/org/wpilib/opmode/RobotBase.java index 5f72ab655d..12191558b0 100644 --- a/wpilibj/src/main/java/org/wpilib/opmode/RobotBase.java +++ b/wpilibj/src/main/java/org/wpilib/opmode/RobotBase.java @@ -4,10 +4,8 @@ package org.wpilib.opmode; -import org.wpilib.vision.stream.CameraServerShared; -import org.wpilib.vision.stream.CameraServerSharedStore; -import org.wpilib.system.Notifier; -import org.wpilib.system.RuntimeType; +import java.util.concurrent.locks.ReentrantLock; +import java.util.function.Supplier; import org.wpilib.driverstation.DriverStation; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.HALUtil; @@ -16,11 +14,13 @@ import org.wpilib.math.util.MathSharedStore; import org.wpilib.networktables.MultiSubscriber; import org.wpilib.networktables.NetworkTableEvent; import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.system.Notifier; +import org.wpilib.system.RuntimeType; import org.wpilib.system.Timer; -import org.wpilib.util.WPIUtilJNI; import org.wpilib.system.WPILibVersion; -import java.util.concurrent.locks.ReentrantLock; -import java.util.function.Supplier; +import org.wpilib.util.WPIUtilJNI; +import org.wpilib.vision.stream.CameraServerShared; +import org.wpilib.vision.stream.CameraServerSharedStore; /** * Implement a Robot Program framework. The RobotBase class is intended to be subclassed to create a diff --git a/wpilibj/src/main/java/org/wpilib/opmode/TimedRobot.java b/wpilibj/src/main/java/org/wpilib/opmode/TimedRobot.java index 72f14ce6e0..ed48876ea5 100644 --- a/wpilibj/src/main/java/org/wpilib/opmode/TimedRobot.java +++ b/wpilibj/src/main/java/org/wpilib/opmode/TimedRobot.java @@ -6,13 +6,13 @@ package org.wpilib.opmode; import static org.wpilib.units.Units.Seconds; +import java.util.PriorityQueue; import org.wpilib.hardware.hal.DriverStationJNI; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.NotifierJNI; import org.wpilib.system.RobotController; import org.wpilib.units.measure.Frequency; import org.wpilib.units.measure.Time; -import java.util.PriorityQueue; /** * TimedRobot implements the IterativeRobotBase robot program framework. diff --git a/wpilibj/src/main/java/org/wpilib/simulation/ADXL345Sim.java b/wpilibj/src/main/java/org/wpilib/simulation/ADXL345Sim.java index 0bf7433245..2eca04cb86 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/ADXL345Sim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/ADXL345Sim.java @@ -4,9 +4,9 @@ package org.wpilib.simulation; -import org.wpilib.hardware.hal.SimDouble; -import org.wpilib.hardware.accelerometer.ADXL345_I2C; import java.util.Objects; +import org.wpilib.hardware.accelerometer.ADXL345_I2C; +import org.wpilib.hardware.hal.SimDouble; /** Class to control a simulated ADXL345. */ public class ADXL345Sim { diff --git a/wpilibj/src/main/java/org/wpilib/simulation/AnalogInputSim.java b/wpilibj/src/main/java/org/wpilib/simulation/AnalogInputSim.java index 07af2753ae..6049b660ba 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/AnalogInputSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/AnalogInputSim.java @@ -4,9 +4,9 @@ package org.wpilib.simulation; +import org.wpilib.hardware.discrete.AnalogInput; import org.wpilib.hardware.hal.simulation.AnalogInDataJNI; import org.wpilib.hardware.hal.simulation.NotifyCallback; -import org.wpilib.hardware.discrete.AnalogInput; /** Class to control a simulated analog input. */ public class AnalogInputSim { diff --git a/wpilibj/src/main/java/org/wpilib/simulation/BatterySim.java b/wpilibj/src/main/java/org/wpilib/simulation/BatterySim.java index f238d0d36b..29ae56b874 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/BatterySim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/BatterySim.java @@ -33,8 +33,8 @@ public final class BatterySim { /** * Calculate the loaded battery voltage. Use this with {@link RoboRioSim#setVInVoltage(double)} to * set the simulated battery voltage, which can then be retrieved with the {@link - * org.wpilib.system.RobotController#getBatteryVoltage()} method. This function assumes a - * nominal voltage of 12v and a resistance of 20 milliohms (0.020 ohms) + * org.wpilib.system.RobotController#getBatteryVoltage()} method. This function assumes a nominal + * voltage of 12v and a resistance of 20 milliohms (0.020 ohms) * * @param currents The currents drawn from the battery. * @return The battery's voltage under load. diff --git a/wpilibj/src/main/java/org/wpilib/simulation/DCMotorSim.java b/wpilibj/src/main/java/org/wpilib/simulation/DCMotorSim.java index 48788b25ef..35024ee79c 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/DCMotorSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/DCMotorSim.java @@ -27,10 +27,9 @@ public class DCMotorSim extends LinearSystemSim { * * @param plant The linear system representing the DC motor. This system can be created with * {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double, - * double)} or {@link - * org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}. If - * {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)} - * is used, the distance unit must be radians. + * double)} or {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, + * double)}. If {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, + * double)} is used, the distance unit must be radians. * @param gearbox The type of and number of motors in the DC motor gearbox. * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no * noise is desired. If present must have 2 elements. The first element is for position. The diff --git a/wpilibj/src/main/java/org/wpilib/simulation/DIOSim.java b/wpilibj/src/main/java/org/wpilib/simulation/DIOSim.java index 4f7fe5048b..4a594e517f 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/DIOSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/DIOSim.java @@ -4,10 +4,10 @@ package org.wpilib.simulation; -import org.wpilib.hardware.hal.simulation.DIODataJNI; -import org.wpilib.hardware.hal.simulation.NotifyCallback; import org.wpilib.hardware.discrete.DigitalInput; import org.wpilib.hardware.discrete.DigitalOutput; +import org.wpilib.hardware.hal.simulation.DIODataJNI; +import org.wpilib.hardware.hal.simulation.NotifyCallback; /** Class to control a simulated digital input or output. */ public class DIOSim { diff --git a/wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java index df5d34de65..d49b6b1973 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java @@ -4,12 +4,10 @@ package org.wpilib.simulation; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.StateSpaceUtil; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N7; @@ -17,6 +15,8 @@ import org.wpilib.math.system.LinearSystem; import org.wpilib.math.system.NumericalIntegration; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.util.Units; import org.wpilib.system.RobotController; @@ -24,8 +24,8 @@ import org.wpilib.system.RobotController; * This class simulates the state of the drivetrain. In simulationPeriodic, users should first set * inputs from motors with {@link #setInputs(double, double)}, call {@link #update(double)} to * update the simulation, and set estimated encoder and gyro positions, as well as estimated - * odometry pose. Teams can use {@link org.wpilib.smartdashboard.Field2d} to visualize - * their robot on the Sim GUI's field. + * odometry pose. Teams can use {@link org.wpilib.smartdashboard.Field2d} to visualize their robot + * on the Sim GUI's field. * *

Our state-space system is: * @@ -90,8 +90,8 @@ public class DifferentialDrivetrainSim { * * @param plant The {@link LinearSystem} representing the robot's drivetrain. This system can be * created with {@link - * org.wpilib.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor, - * double, double, double, double, double)} or {@link + * org.wpilib.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor, double, + * double, double, double, double)} or {@link * org.wpilib.math.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double, * double, double)}. * @param driveMotor A {@link DCMotor} representing the drivetrain. diff --git a/wpilibj/src/main/java/org/wpilib/simulation/DigitalPWMSim.java b/wpilibj/src/main/java/org/wpilib/simulation/DigitalPWMSim.java index 690f17cd02..7d3597fb51 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/DigitalPWMSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/DigitalPWMSim.java @@ -4,10 +4,10 @@ package org.wpilib.simulation; +import java.util.NoSuchElementException; +import org.wpilib.hardware.discrete.DigitalOutput; import org.wpilib.hardware.hal.simulation.DigitalPWMDataJNI; import org.wpilib.hardware.hal.simulation.NotifyCallback; -import org.wpilib.hardware.discrete.DigitalOutput; -import java.util.NoSuchElementException; /** * Class to control a simulated digital PWM output. diff --git a/wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java b/wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java index 01d224c00b..c87d86ae12 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java @@ -4,12 +4,12 @@ package org.wpilib.simulation; +import org.wpilib.driverstation.DriverStation; import org.wpilib.hardware.hal.AllianceStationID; import org.wpilib.hardware.hal.DriverStationJNI; import org.wpilib.hardware.hal.simulation.DriverStationDataJNI; import org.wpilib.hardware.hal.simulation.NotifyCallback; import org.wpilib.util.WPIUtilJNI; -import org.wpilib.driverstation.DriverStation; /** Class to control a simulated driver station. */ public final class DriverStationSim { diff --git a/wpilibj/src/main/java/org/wpilib/simulation/EncoderSim.java b/wpilibj/src/main/java/org/wpilib/simulation/EncoderSim.java index 2a8e772062..abb3da5870 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/EncoderSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/EncoderSim.java @@ -4,10 +4,10 @@ package org.wpilib.simulation; +import java.util.NoSuchElementException; import org.wpilib.hardware.hal.simulation.EncoderDataJNI; import org.wpilib.hardware.hal.simulation.NotifyCallback; import org.wpilib.hardware.rotation.Encoder; -import java.util.NoSuchElementException; /** Class to control a simulated encoder. */ public class EncoderSim { diff --git a/wpilibj/src/main/java/org/wpilib/simulation/LinearSystemSim.java b/wpilibj/src/main/java/org/wpilib/simulation/LinearSystemSim.java index 338c650e40..457ccbb8d9 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/LinearSystemSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/LinearSystemSim.java @@ -4,13 +4,13 @@ package org.wpilib.simulation; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Num; -import org.wpilib.math.util.StateSpaceUtil; -import org.wpilib.math.numbers.N1; -import org.wpilib.math.system.LinearSystem; import org.ejml.MatrixDimensionException; import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.system.LinearSystem; +import org.wpilib.math.util.Num; +import org.wpilib.math.util.StateSpaceUtil; /** * This class helps simulate linear systems. To use this class, do the following in the {@link diff --git a/wpilibj/src/main/java/org/wpilib/simulation/PWMSim.java b/wpilibj/src/main/java/org/wpilib/simulation/PWMSim.java index 3eca39c9fb..653ea8f28c 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/PWMSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/PWMSim.java @@ -4,9 +4,9 @@ package org.wpilib.simulation; +import org.wpilib.hardware.discrete.PWM; import org.wpilib.hardware.hal.simulation.NotifyCallback; import org.wpilib.hardware.hal.simulation.PWMDataJNI; -import org.wpilib.hardware.discrete.PWM; /** Class to control a simulated PWM output. */ public class PWMSim { diff --git a/wpilibj/src/main/java/org/wpilib/simulation/SimDeviceSim.java b/wpilibj/src/main/java/org/wpilib/simulation/SimDeviceSim.java index 262ebd59e6..5548495979 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/SimDeviceSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/SimDeviceSim.java @@ -235,7 +235,8 @@ public class SimDeviceSim { } /** - * Register a callback to be run every time a new {@link org.wpilib.hardware.hal.SimDevice} is created. + * Register a callback to be run every time a new {@link org.wpilib.hardware.hal.SimDevice} is + * created. * * @param prefix the prefix to filter sim devices * @param callback the callback diff --git a/wpilibj/src/main/java/org/wpilib/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/org/wpilib/simulation/SingleJointedArmSim.java index cbfd1e84b9..f210f422c5 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/SingleJointedArmSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/SingleJointedArmSim.java @@ -38,8 +38,8 @@ public class SingleJointedArmSim extends LinearSystemSim { * Creates a simulated arm mechanism. * * @param plant The linear system that represents the arm. This system can be created with {@link - * org.wpilib.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor, - * double, double)}. + * org.wpilib.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor, double, + * double)}. * @param gearbox The type of and number of motors in the arm gearbox. * @param gearing The gearing of the arm (numbers greater than 1 represent reductions). * @param armLength The length of the arm in meters. diff --git a/wpilibj/src/main/java/org/wpilib/smartdashboard/Field2d.java b/wpilibj/src/main/java/org/wpilib/smartdashboard/Field2d.java index 63eedeceb7..8d0dd60940 100644 --- a/wpilibj/src/main/java/org/wpilib/smartdashboard/Field2d.java +++ b/wpilibj/src/main/java/org/wpilib/smartdashboard/Field2d.java @@ -6,6 +6,8 @@ package org.wpilib.smartdashboard; import static org.wpilib.units.Units.Meters; +import java.util.ArrayList; +import java.util.List; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.networktables.NTSendable; @@ -13,8 +15,6 @@ import org.wpilib.networktables.NTSendableBuilder; import org.wpilib.networktables.NetworkTable; import org.wpilib.units.measure.Distance; import org.wpilib.util.sendable.SendableRegistry; -import java.util.ArrayList; -import java.util.List; /** * 2D representation of game field for dashboards. diff --git a/wpilibj/src/main/java/org/wpilib/smartdashboard/FieldObject2d.java b/wpilibj/src/main/java/org/wpilib/smartdashboard/FieldObject2d.java index a7b39902a5..bc0882565b 100644 --- a/wpilibj/src/main/java/org/wpilib/smartdashboard/FieldObject2d.java +++ b/wpilibj/src/main/java/org/wpilib/smartdashboard/FieldObject2d.java @@ -6,15 +6,15 @@ package org.wpilib.smartdashboard; import static org.wpilib.units.Units.Meters; +import java.util.ArrayList; +import java.util.Collections; +import java.util.List; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.trajectory.Trajectory; import org.wpilib.networktables.DoubleArrayEntry; import org.wpilib.units.measure.Distance; -import java.util.ArrayList; -import java.util.Collections; -import java.util.List; /** Game field object on a Field2d. */ public class FieldObject2d implements AutoCloseable { diff --git a/wpilibj/src/main/java/org/wpilib/smartdashboard/Mechanism2d.java b/wpilibj/src/main/java/org/wpilib/smartdashboard/Mechanism2d.java index 69c49be595..fc646e00ae 100644 --- a/wpilibj/src/main/java/org/wpilib/smartdashboard/Mechanism2d.java +++ b/wpilibj/src/main/java/org/wpilib/smartdashboard/Mechanism2d.java @@ -4,15 +4,15 @@ package org.wpilib.smartdashboard; +import java.util.HashMap; +import java.util.Map; +import java.util.Map.Entry; import org.wpilib.networktables.DoubleArrayPublisher; import org.wpilib.networktables.NTSendable; import org.wpilib.networktables.NTSendableBuilder; import org.wpilib.networktables.NetworkTable; import org.wpilib.networktables.StringPublisher; import org.wpilib.util.Color8Bit; -import java.util.HashMap; -import java.util.Map; -import java.util.Map.Entry; /** * Visual 2D representation of arms, elevators, and general mechanisms through a node-based API. diff --git a/wpilibj/src/main/java/org/wpilib/smartdashboard/MechanismObject2d.java b/wpilibj/src/main/java/org/wpilib/smartdashboard/MechanismObject2d.java index f656fafef0..10f414fc05 100644 --- a/wpilibj/src/main/java/org/wpilib/smartdashboard/MechanismObject2d.java +++ b/wpilibj/src/main/java/org/wpilib/smartdashboard/MechanismObject2d.java @@ -4,9 +4,9 @@ package org.wpilib.smartdashboard; -import org.wpilib.networktables.NetworkTable; import java.util.HashMap; import java.util.Map; +import org.wpilib.networktables.NetworkTable; /** * Common base class for all Mechanism2d node types. diff --git a/wpilibj/src/main/java/org/wpilib/smartdashboard/SendableBuilderImpl.java b/wpilibj/src/main/java/org/wpilib/smartdashboard/SendableBuilderImpl.java index ddf4284baa..b523ecacfe 100644 --- a/wpilibj/src/main/java/org/wpilib/smartdashboard/SendableBuilderImpl.java +++ b/wpilibj/src/main/java/org/wpilib/smartdashboard/SendableBuilderImpl.java @@ -4,6 +4,15 @@ package org.wpilib.smartdashboard; +import java.util.ArrayList; +import java.util.List; +import java.util.function.BooleanSupplier; +import java.util.function.Consumer; +import java.util.function.DoubleConsumer; +import java.util.function.DoubleSupplier; +import java.util.function.LongConsumer; +import java.util.function.LongSupplier; +import java.util.function.Supplier; import org.wpilib.networktables.BooleanArrayPublisher; import org.wpilib.networktables.BooleanArraySubscriber; import org.wpilib.networktables.BooleanArrayTopic; @@ -43,19 +52,10 @@ import org.wpilib.networktables.StringSubscriber; import org.wpilib.networktables.StringTopic; import org.wpilib.networktables.Subscriber; import org.wpilib.networktables.Topic; +import org.wpilib.system.RobotController; import org.wpilib.util.function.BooleanConsumer; import org.wpilib.util.function.FloatConsumer; import org.wpilib.util.function.FloatSupplier; -import org.wpilib.system.RobotController; -import java.util.ArrayList; -import java.util.List; -import java.util.function.BooleanSupplier; -import java.util.function.Consumer; -import java.util.function.DoubleConsumer; -import java.util.function.DoubleSupplier; -import java.util.function.LongConsumer; -import java.util.function.LongSupplier; -import java.util.function.Supplier; /** Implementation detail for SendableBuilder. */ public class SendableBuilderImpl implements NTSendableBuilder { diff --git a/wpilibj/src/main/java/org/wpilib/smartdashboard/SendableChooser.java b/wpilibj/src/main/java/org/wpilib/smartdashboard/SendableChooser.java index 899a11e8e9..9f7bcf6216 100644 --- a/wpilibj/src/main/java/org/wpilib/smartdashboard/SendableChooser.java +++ b/wpilibj/src/main/java/org/wpilib/smartdashboard/SendableChooser.java @@ -6,14 +6,14 @@ package org.wpilib.smartdashboard; import static org.wpilib.util.ErrorMessages.requireNonNullParam; -import org.wpilib.util.sendable.Sendable; -import org.wpilib.util.sendable.SendableBuilder; -import org.wpilib.util.sendable.SendableRegistry; import java.util.LinkedHashMap; import java.util.Map; import java.util.concurrent.atomic.AtomicInteger; import java.util.concurrent.locks.ReentrantLock; import java.util.function.Consumer; +import org.wpilib.util.sendable.Sendable; +import org.wpilib.util.sendable.SendableBuilder; +import org.wpilib.util.sendable.SendableRegistry; /** * The {@link SendableChooser} class is a useful tool for presenting a selection of options to the diff --git a/wpilibj/src/main/java/org/wpilib/smartdashboard/SmartDashboard.java b/wpilibj/src/main/java/org/wpilib/smartdashboard/SmartDashboard.java index 3e3338b483..e1c17a506c 100644 --- a/wpilibj/src/main/java/org/wpilib/smartdashboard/SmartDashboard.java +++ b/wpilibj/src/main/java/org/wpilib/smartdashboard/SmartDashboard.java @@ -4,15 +4,15 @@ package org.wpilib.smartdashboard; +import java.util.HashMap; +import java.util.Map; +import java.util.Set; import org.wpilib.hardware.hal.HAL; import org.wpilib.networktables.NetworkTable; import org.wpilib.networktables.NetworkTableEntry; import org.wpilib.networktables.NetworkTableInstance; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableRegistry; -import java.util.HashMap; -import java.util.Map; -import java.util.Set; /** * The {@link SmartDashboard} class is the bridge between robot programs and the SmartDashboard on diff --git a/wpilibj/src/main/java/org/wpilib/sysid/SysIdRoutineLog.java b/wpilibj/src/main/java/org/wpilib/sysid/SysIdRoutineLog.java index a7c53fbd7a..28a5cb884d 100644 --- a/wpilibj/src/main/java/org/wpilib/sysid/SysIdRoutineLog.java +++ b/wpilibj/src/main/java/org/wpilib/sysid/SysIdRoutineLog.java @@ -12,8 +12,11 @@ import static org.wpilib.units.Units.RotationsPerSecond; import static org.wpilib.units.Units.Second; import static org.wpilib.units.Units.Volts; +import java.util.HashMap; +import java.util.Map; import org.wpilib.datalog.DoubleLogEntry; import org.wpilib.datalog.StringLogEntry; +import org.wpilib.system.DataLogManager; import org.wpilib.units.measure.Angle; import org.wpilib.units.measure.AngularAcceleration; import org.wpilib.units.measure.AngularVelocity; @@ -22,9 +25,6 @@ import org.wpilib.units.measure.Distance; import org.wpilib.units.measure.LinearAcceleration; import org.wpilib.units.measure.LinearVelocity; import org.wpilib.units.measure.Voltage; -import org.wpilib.system.DataLogManager; -import java.util.HashMap; -import java.util.Map; /** * Utility for logging data from a SysId test routine. Each complete routine (quasistatic and diff --git a/wpilibj/src/main/java/org/wpilib/system/DataLogManager.java b/wpilibj/src/main/java/org/wpilib/system/DataLogManager.java index 606b5ef28c..337804d041 100644 --- a/wpilibj/src/main/java/org/wpilib/system/DataLogManager.java +++ b/wpilibj/src/main/java/org/wpilib/system/DataLogManager.java @@ -4,17 +4,6 @@ package org.wpilib.system; -import org.wpilib.datalog.DataLog; -import org.wpilib.datalog.DataLogBackgroundWriter; -import org.wpilib.datalog.FileLogger; -import org.wpilib.datalog.IntegerLogEntry; -import org.wpilib.datalog.StringLogEntry; -import org.wpilib.driverstation.DriverStation; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.opmode.RobotBase; -import org.wpilib.util.WPIUtilJNI; -import org.wpilib.util.concurrent.Event; import java.io.File; import java.io.IOException; import java.nio.file.Files; @@ -26,6 +15,17 @@ import java.time.format.DateTimeFormatter; import java.util.Arrays; import java.util.Comparator; import java.util.Random; +import org.wpilib.datalog.DataLog; +import org.wpilib.datalog.DataLogBackgroundWriter; +import org.wpilib.datalog.FileLogger; +import org.wpilib.datalog.IntegerLogEntry; +import org.wpilib.datalog.StringLogEntry; +import org.wpilib.driverstation.DriverStation; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.opmode.RobotBase; +import org.wpilib.util.WPIUtilJNI; +import org.wpilib.util.concurrent.Event; /** * Centralized data log that provides automatic data log file management. It automatically cleans up diff --git a/wpilibj/src/main/java/org/wpilib/system/Notifier.java b/wpilibj/src/main/java/org/wpilib/system/Notifier.java index 4602917e50..df0f2c364c 100644 --- a/wpilibj/src/main/java/org/wpilib/system/Notifier.java +++ b/wpilibj/src/main/java/org/wpilib/system/Notifier.java @@ -7,13 +7,12 @@ package org.wpilib.system; import static org.wpilib.units.Units.Seconds; import static org.wpilib.util.ErrorMessages.requireNonNullParam; +import java.util.concurrent.atomic.AtomicInteger; +import java.util.concurrent.locks.ReentrantLock; import org.wpilib.driverstation.DriverStation; import org.wpilib.hardware.hal.NotifierJNI; import org.wpilib.units.measure.Frequency; import org.wpilib.units.measure.Time; -import org.wpilib.system.RobotController; -import java.util.concurrent.atomic.AtomicInteger; -import java.util.concurrent.locks.ReentrantLock; /** * Notifiers run a user-provided callback function on a separate thread. diff --git a/wpilibj/src/main/java/org/wpilib/system/RobotController.java b/wpilibj/src/main/java/org/wpilib/system/RobotController.java index c51036dee2..3ed227ad2f 100644 --- a/wpilibj/src/main/java/org/wpilib/system/RobotController.java +++ b/wpilibj/src/main/java/org/wpilib/system/RobotController.java @@ -9,6 +9,7 @@ import static org.wpilib.units.Units.Celsius; import static org.wpilib.units.Units.Microseconds; import static org.wpilib.units.Units.Volts; +import java.util.function.LongSupplier; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.HALUtil; import org.wpilib.hardware.hal.PowerJNI; @@ -18,7 +19,6 @@ import org.wpilib.units.measure.Current; import org.wpilib.units.measure.Temperature; import org.wpilib.units.measure.Time; import org.wpilib.units.measure.Voltage; -import java.util.function.LongSupplier; /** Contains functions for roboRIO functionality. */ public final class RobotController { diff --git a/wpilibj/src/main/java/org/wpilib/system/Timer.java b/wpilibj/src/main/java/org/wpilib/system/Timer.java index 7f5b47ffc1..790db4b94d 100644 --- a/wpilibj/src/main/java/org/wpilib/system/Timer.java +++ b/wpilibj/src/main/java/org/wpilib/system/Timer.java @@ -6,8 +6,8 @@ package org.wpilib.system; import static org.wpilib.units.Units.Seconds; -import org.wpilib.units.measure.Time; import org.wpilib.driverstation.DriverStation; +import org.wpilib.units.measure.Time; /** * A timer class. diff --git a/wpilibj/src/main/java/org/wpilib/system/Watchdog.java b/wpilibj/src/main/java/org/wpilib/system/Watchdog.java index 63c1068359..a3d0600b8f 100644 --- a/wpilibj/src/main/java/org/wpilib/system/Watchdog.java +++ b/wpilibj/src/main/java/org/wpilib/system/Watchdog.java @@ -6,12 +6,12 @@ package org.wpilib.system; import static org.wpilib.units.Units.Seconds; -import org.wpilib.driverstation.DriverStation; -import org.wpilib.hardware.hal.NotifierJNI; -import org.wpilib.units.measure.Time; import java.io.Closeable; import java.util.PriorityQueue; import java.util.concurrent.locks.ReentrantLock; +import org.wpilib.driverstation.DriverStation; +import org.wpilib.hardware.hal.NotifierJNI; +import org.wpilib.units.measure.Time; /** * A class that's a wrapper around a watchdog timer. diff --git a/wpilibj/src/main/java/org/wpilib/util/Alert.java b/wpilibj/src/main/java/org/wpilib/util/Alert.java index 3b3bbcfa91..58c722cf49 100644 --- a/wpilibj/src/main/java/org/wpilib/util/Alert.java +++ b/wpilibj/src/main/java/org/wpilib/util/Alert.java @@ -4,23 +4,23 @@ package org.wpilib.util; -import org.wpilib.system.RobotController; -import org.wpilib.util.sendable.Sendable; -import org.wpilib.util.sendable.SendableBuilder; -import org.wpilib.smartdashboard.SmartDashboard; import java.util.Comparator; import java.util.EnumMap; import java.util.HashMap; import java.util.Map; import java.util.Set; import java.util.TreeSet; +import org.wpilib.smartdashboard.SmartDashboard; +import org.wpilib.system.RobotController; +import org.wpilib.util.sendable.Sendable; +import org.wpilib.util.sendable.SendableBuilder; /** * Persistent alert to be sent via NetworkTables. Alerts are tagged with a type of {@code kError}, - * {@code kWarning}, or {@code kInfo} to denote urgency. See {@link - * org.wpilib.util.Alert.AlertType AlertType} for suggested usage of each type. Alerts can be - * displayed on supported dashboards, and are shown in a priority order based on type and recency of - * activation, with newly activated alerts first. + * {@code kWarning}, or {@code kInfo} to denote urgency. See {@link org.wpilib.util.Alert.AlertType + * AlertType} for suggested usage of each type. Alerts can be displayed on supported dashboards, and + * are shown in a priority order based on type and recency of activation, with newly activated + * alerts first. * *

Alerts should be created once and stored persistently, then updated to "active" or "inactive" * as necessary. {@link #set(boolean)} can be safely called periodically. diff --git a/wpilibj/src/main/java/org/wpilib/util/Color.java b/wpilibj/src/main/java/org/wpilib/util/Color.java index 5eeefbc0c8..6e54786a8e 100644 --- a/wpilibj/src/main/java/org/wpilib/util/Color.java +++ b/wpilibj/src/main/java/org/wpilib/util/Color.java @@ -4,8 +4,8 @@ package org.wpilib.util; -import org.wpilib.math.util.MathUtil; import java.util.Objects; +import org.wpilib.math.util.MathUtil; /** * Represents colors. diff --git a/wpilibj/src/main/java/org/wpilib/util/Preferences.java b/wpilibj/src/main/java/org/wpilib/util/Preferences.java index 367924ac4c..62605a54b8 100644 --- a/wpilibj/src/main/java/org/wpilib/util/Preferences.java +++ b/wpilibj/src/main/java/org/wpilib/util/Preferences.java @@ -6,6 +6,8 @@ package org.wpilib.util; import static org.wpilib.util.ErrorMessages.requireNonNullParam; +import java.util.Collection; +import java.util.EnumSet; import org.wpilib.hardware.hal.HAL; import org.wpilib.networktables.MultiSubscriber; import org.wpilib.networktables.NetworkTable; @@ -16,8 +18,6 @@ import org.wpilib.networktables.NetworkTableListener; import org.wpilib.networktables.StringPublisher; import org.wpilib.networktables.StringTopic; import org.wpilib.networktables.Topic; -import java.util.Collection; -import java.util.EnumSet; /** * The preferences class provides a relatively simple way to save important values to the roboRIO to diff --git a/wpilibj/src/test/java/edu/wpi/first/math/util/ColorTest.java b/wpilibj/src/test/java/edu/wpi/first/math/util/ColorTest.java index da6b3139a3..2e215fa708 100644 --- a/wpilibj/src/test/java/edu/wpi/first/math/util/ColorTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/math/util/ColorTest.java @@ -8,11 +8,11 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.params.provider.Arguments.arguments; -import org.wpilib.util.Color; import java.util.stream.Stream; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.Arguments; import org.junit.jupiter.params.provider.MethodSource; +import org.wpilib.util.Color; class ColorTest { private static final double kEpsilon = 1e-3; diff --git a/wpilibj/src/test/java/org/wpilib/MockHardwareExtension.java b/wpilibj/src/test/java/org/wpilib/MockHardwareExtension.java index 14fb576e7a..e23ac069e8 100644 --- a/wpilibj/src/test/java/org/wpilib/MockHardwareExtension.java +++ b/wpilibj/src/test/java/org/wpilib/MockHardwareExtension.java @@ -4,11 +4,11 @@ package org.wpilib; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.DriverStationSim; import org.junit.jupiter.api.extension.BeforeAllCallback; import org.junit.jupiter.api.extension.ExtensionContext; import org.junit.jupiter.api.extension.ExtensionContext.Namespace; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.DriverStationSim; public final class MockHardwareExtension implements BeforeAllCallback { private static ExtensionContext getRoot(ExtensionContext context) { diff --git a/wpilibj/src/test/java/org/wpilib/can/CANStatusTest.java b/wpilibj/src/test/java/org/wpilib/can/CANStatusTest.java index 3eccb09481..1a4e69ea2d 100644 --- a/wpilibj/src/test/java/org/wpilib/can/CANStatusTest.java +++ b/wpilibj/src/test/java/org/wpilib/can/CANStatusTest.java @@ -6,10 +6,10 @@ package org.wpilib.can; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.can.CANJNI; import org.wpilib.hardware.hal.can.CANStatus; -import org.junit.jupiter.api.Test; class CANStatusTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/drive/DifferentialDriveTest.java b/wpilibj/src/test/java/org/wpilib/drive/DifferentialDriveTest.java index 38f51d00d0..5a39d6b303 100644 --- a/wpilibj/src/test/java/org/wpilib/drive/DifferentialDriveTest.java +++ b/wpilibj/src/test/java/org/wpilib/drive/DifferentialDriveTest.java @@ -6,8 +6,8 @@ package org.wpilib.drive; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.hardware.motor.MockPWMMotorController; import org.junit.jupiter.api.Test; +import org.wpilib.hardware.motor.MockPWMMotorController; @SuppressWarnings("resource") class DifferentialDriveTest { diff --git a/wpilibj/src/test/java/org/wpilib/drive/MecanumDriveTest.java b/wpilibj/src/test/java/org/wpilib/drive/MecanumDriveTest.java index 525f9c02b8..eeb0206bb3 100644 --- a/wpilibj/src/test/java/org/wpilib/drive/MecanumDriveTest.java +++ b/wpilibj/src/test/java/org/wpilib/drive/MecanumDriveTest.java @@ -6,9 +6,9 @@ package org.wpilib.drive; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Rotation2d; -import org.wpilib.hardware.motor.MockPWMMotorController; import org.junit.jupiter.api.Test; +import org.wpilib.hardware.motor.MockPWMMotorController; +import org.wpilib.math.geometry.Rotation2d; @SuppressWarnings("resource") class MecanumDriveTest { diff --git a/wpilibj/src/test/java/org/wpilib/driverstation/DriverStationTest.java b/wpilibj/src/test/java/org/wpilib/driverstation/DriverStationTest.java index 8684fcdc0c..6fec80115c 100644 --- a/wpilibj/src/test/java/org/wpilib/driverstation/DriverStationTest.java +++ b/wpilibj/src/test/java/org/wpilib/driverstation/DriverStationTest.java @@ -7,11 +7,11 @@ package org.wpilib.driverstation; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.params.provider.Arguments.arguments; -import org.wpilib.simulation.DriverStationSim; import java.util.stream.Stream; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.Arguments; import org.junit.jupiter.params.provider.MethodSource; +import org.wpilib.simulation.DriverStationSim; class DriverStationTest { @ParameterizedTest diff --git a/wpilibj/src/test/java/org/wpilib/driverstation/GenericHIDTest.java b/wpilibj/src/test/java/org/wpilib/driverstation/GenericHIDTest.java index f4b561325f..f7ff200085 100644 --- a/wpilibj/src/test/java/org/wpilib/driverstation/GenericHIDTest.java +++ b/wpilibj/src/test/java/org/wpilib/driverstation/GenericHIDTest.java @@ -6,9 +6,9 @@ package org.wpilib.driverstation; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.driverstation.GenericHID.RumbleType; import org.wpilib.simulation.GenericHIDSim; -import org.junit.jupiter.api.Test; class GenericHIDTest { private static final double kEpsilon = 0.0001; diff --git a/wpilibj/src/test/java/org/wpilib/driverstation/JoystickTest.java b/wpilibj/src/test/java/org/wpilib/driverstation/JoystickTest.java index be3fdde308..34a55206da 100644 --- a/wpilibj/src/test/java/org/wpilib/driverstation/JoystickTest.java +++ b/wpilibj/src/test/java/org/wpilib/driverstation/JoystickTest.java @@ -8,9 +8,9 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.simulation.JoystickSim; -import org.junit.jupiter.api.Test; class JoystickTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/driverstation/PS4ControllerTest.java b/wpilibj/src/test/java/org/wpilib/driverstation/PS4ControllerTest.java index 05ab1c1d3c..743d40372a 100644 --- a/wpilibj/src/test/java/org/wpilib/driverstation/PS4ControllerTest.java +++ b/wpilibj/src/test/java/org/wpilib/driverstation/PS4ControllerTest.java @@ -8,12 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.PS4ControllerSim; import java.lang.reflect.InvocationTargetException; import java.lang.reflect.Method; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.EnumSource; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.PS4ControllerSim; class PS4ControllerTest { @ParameterizedTest diff --git a/wpilibj/src/test/java/org/wpilib/driverstation/PS5ControllerTest.java b/wpilibj/src/test/java/org/wpilib/driverstation/PS5ControllerTest.java index 3df2715edc..1be48794e2 100644 --- a/wpilibj/src/test/java/org/wpilib/driverstation/PS5ControllerTest.java +++ b/wpilibj/src/test/java/org/wpilib/driverstation/PS5ControllerTest.java @@ -8,12 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.PS5ControllerSim; import java.lang.reflect.InvocationTargetException; import java.lang.reflect.Method; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.EnumSource; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.PS5ControllerSim; class PS5ControllerTest { @ParameterizedTest diff --git a/wpilibj/src/test/java/org/wpilib/driverstation/XboxControllerTest.java b/wpilibj/src/test/java/org/wpilib/driverstation/XboxControllerTest.java index 1129e11848..984875887d 100644 --- a/wpilibj/src/test/java/org/wpilib/driverstation/XboxControllerTest.java +++ b/wpilibj/src/test/java/org/wpilib/driverstation/XboxControllerTest.java @@ -8,12 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.XboxControllerSim; import java.lang.reflect.InvocationTargetException; import java.lang.reflect.Method; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.EnumSource; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.XboxControllerSim; class XboxControllerTest { @ParameterizedTest diff --git a/wpilibj/src/test/java/org/wpilib/event/NetworkBooleanEventTest.java b/wpilibj/src/test/java/org/wpilib/event/NetworkBooleanEventTest.java index f176ccea0e..5ab08a5260 100644 --- a/wpilibj/src/test/java/org/wpilib/event/NetworkBooleanEventTest.java +++ b/wpilibj/src/test/java/org/wpilib/event/NetworkBooleanEventTest.java @@ -6,11 +6,11 @@ package org.wpilib.event; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.networktables.NetworkTableInstance; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.networktables.NetworkTableInstance; class NetworkBooleanEventTest { NetworkTableInstance m_inst; diff --git a/wpilibj/src/test/java/org/wpilib/hal/JNITest.java b/wpilibj/src/test/java/org/wpilib/hal/JNITest.java index cd86b3722e..172811d83c 100644 --- a/wpilibj/src/test/java/org/wpilib/hal/JNITest.java +++ b/wpilibj/src/test/java/org/wpilib/hal/JNITest.java @@ -4,10 +4,10 @@ package org.wpilib.hal; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.HALUtil; import org.wpilib.networktables.NetworkTablesJNI; -import org.junit.jupiter.api.Test; class JNITest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hal/MatchInfoDataTest.java b/wpilibj/src/test/java/org/wpilib/hal/MatchInfoDataTest.java index 538eb423ff..753dd184dd 100644 --- a/wpilibj/src/test/java/org/wpilib/hal/MatchInfoDataTest.java +++ b/wpilibj/src/test/java/org/wpilib/hal/MatchInfoDataTest.java @@ -7,12 +7,12 @@ package org.wpilib.hal; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; +import org.wpilib.driverstation.DriverStation.MatchType; import org.wpilib.hardware.hal.DriverStationJNI; import org.wpilib.hardware.hal.MatchInfoData; import org.wpilib.hardware.hal.simulation.DriverStationDataJNI; -import org.wpilib.driverstation.DriverStation.MatchType; import org.wpilib.simulation.DriverStationSim; -import org.junit.jupiter.api.Test; class MatchInfoDataTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hardware/discrete/DigitalOutputTest.java b/wpilibj/src/test/java/org/wpilib/hardware/discrete/DigitalOutputTest.java index e02a60af96..772249c213 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/discrete/DigitalOutputTest.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/discrete/DigitalOutputTest.java @@ -8,9 +8,9 @@ import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.simulation.DIOSim; -import org.junit.jupiter.api.Test; class DigitalOutputTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hardware/led/AddressableLEDBufferTest.java b/wpilibj/src/test/java/org/wpilib/hardware/led/AddressableLEDBufferTest.java index 212096f756..4dd3fe512b 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/led/AddressableLEDBufferTest.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/led/AddressableLEDBufferTest.java @@ -9,13 +9,13 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.fail; import static org.junit.jupiter.params.provider.Arguments.arguments; -import org.wpilib.util.Color; -import org.wpilib.util.Color8Bit; import java.util.stream.Stream; import org.junit.jupiter.api.Test; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.Arguments; import org.junit.jupiter.params.provider.MethodSource; +import org.wpilib.util.Color; +import org.wpilib.util.Color8Bit; class AddressableLEDBufferTest { @ParameterizedTest diff --git a/wpilibj/src/test/java/org/wpilib/hardware/led/AddressableLEDBufferViewTest.java b/wpilibj/src/test/java/org/wpilib/hardware/led/AddressableLEDBufferViewTest.java index 117b7eaa69..b42cfdfad8 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/led/AddressableLEDBufferViewTest.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/led/AddressableLEDBufferViewTest.java @@ -6,8 +6,8 @@ package org.wpilib.hardware.led; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.util.Color; import org.junit.jupiter.api.Test; +import org.wpilib.util.Color; class AddressableLEDBufferViewTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hardware/led/LEDPatternTest.java b/wpilibj/src/test/java/org/wpilib/hardware/led/LEDPatternTest.java index 68a9df80e1..c3e4c58249 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/led/LEDPatternTest.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/led/LEDPatternTest.java @@ -4,6 +4,10 @@ package org.wpilib.hardware.led; +import static org.junit.jupiter.api.Assertions.assertEquals; +import static org.junit.jupiter.api.Assertions.fail; +import static org.wpilib.hardware.led.LEDPattern.GradientType.kContinuous; +import static org.wpilib.hardware.led.LEDPattern.GradientType.kDiscontinuous; import static org.wpilib.units.Units.Centimeters; import static org.wpilib.units.Units.Meters; import static org.wpilib.units.Units.MetersPerSecond; @@ -12,8 +16,6 @@ import static org.wpilib.units.Units.Microseconds; import static org.wpilib.units.Units.Percent; import static org.wpilib.units.Units.Seconds; import static org.wpilib.units.Units.Value; -import static org.wpilib.hardware.led.LEDPattern.GradientType.kContinuous; -import static org.wpilib.hardware.led.LEDPattern.GradientType.kDiscontinuous; import static org.wpilib.util.Color.kBlack; import static org.wpilib.util.Color.kBlue; import static org.wpilib.util.Color.kGreen; @@ -24,18 +26,16 @@ import static org.wpilib.util.Color.kPurple; import static org.wpilib.util.Color.kRed; import static org.wpilib.util.Color.kWhite; import static org.wpilib.util.Color.kYellow; -import static org.junit.jupiter.api.Assertions.assertEquals; -import static org.junit.jupiter.api.Assertions.fail; -import org.wpilib.system.RobotController; -import org.wpilib.util.Color; -import org.wpilib.util.Color8Bit; import java.util.Map; import java.util.concurrent.atomic.AtomicBoolean; import java.util.concurrent.atomic.AtomicReference; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.system.RobotController; +import org.wpilib.util.Color; +import org.wpilib.util.Color8Bit; class LEDPatternTest { long m_mockTime; diff --git a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestCTRE.java b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestCTRE.java index d0af33c23d..fbe44358d8 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestCTRE.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestCTRE.java @@ -7,8 +7,8 @@ package org.wpilib.hardware.pneumatic; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; -import org.wpilib.hardware.hal.util.AllocationException; import org.junit.jupiter.api.Test; +import org.wpilib.hardware.hal.util.AllocationException; class DoubleSolenoidTestCTRE { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestREV.java b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestREV.java index 3385391c89..1bd5b382eb 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestREV.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestREV.java @@ -7,8 +7,8 @@ package org.wpilib.hardware.pneumatic; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; -import org.wpilib.hardware.hal.util.AllocationException; import org.junit.jupiter.api.Test; +import org.wpilib.hardware.hal.util.AllocationException; class DoubleSolenoidTestREV { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestCTRE.java b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestCTRE.java index d236aaa37b..587f3926f4 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestCTRE.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestCTRE.java @@ -9,8 +9,8 @@ import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.util.AllocationException; import org.junit.jupiter.api.Test; +import org.wpilib.hardware.hal.util.AllocationException; class SolenoidTestCTRE { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestREV.java b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestREV.java index 21d155851e..6d6eb2d14e 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestREV.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestREV.java @@ -9,8 +9,8 @@ import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.util.AllocationException; import org.junit.jupiter.api.Test; +import org.wpilib.hardware.hal.util.AllocationException; class SolenoidTestREV { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hardware/power/PowerDistributionTest.java b/wpilibj/src/test/java/org/wpilib/hardware/power/PowerDistributionTest.java index 7ccc086e44..46a7f41277 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/power/PowerDistributionTest.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/power/PowerDistributionTest.java @@ -6,10 +6,10 @@ package org.wpilib.hardware.power; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.power.PowerDistribution.ModuleType; import org.wpilib.simulation.PDPSim; -import org.junit.jupiter.api.Test; class PowerDistributionTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hardware/range/SharpIRTest.java b/wpilibj/src/test/java/org/wpilib/hardware/range/SharpIRTest.java index e7b145c422..5faa369243 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/range/SharpIRTest.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/range/SharpIRTest.java @@ -6,8 +6,8 @@ package org.wpilib.hardware.range; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.simulation.SharpIRSim; import org.junit.jupiter.api.Test; +import org.wpilib.simulation.SharpIRSim; class SharpIRTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/hardware/rotation/AnalogPotentiometerTest.java b/wpilibj/src/test/java/org/wpilib/hardware/rotation/AnalogPotentiometerTest.java index 51b7945eab..a073eada19 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/rotation/AnalogPotentiometerTest.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/rotation/AnalogPotentiometerTest.java @@ -6,11 +6,11 @@ package org.wpilib.hardware.rotation; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.discrete.AnalogInput; import org.wpilib.hardware.hal.HAL; import org.wpilib.simulation.AnalogInputSim; import org.wpilib.simulation.RoboRioSim; -import org.junit.jupiter.api.Test; class AnalogPotentiometerTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/opmode/TimedRobotTest.java b/wpilibj/src/test/java/org/wpilib/opmode/TimedRobotTest.java index 89df8bd036..2ce35023d4 100644 --- a/wpilibj/src/test/java/org/wpilib/opmode/TimedRobotTest.java +++ b/wpilibj/src/test/java/org/wpilib/opmode/TimedRobotTest.java @@ -6,13 +6,13 @@ package org.wpilib.opmode; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.simulation.DriverStationSim; -import org.wpilib.simulation.SimHooks; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.simulation.DriverStationSim; +import org.wpilib.simulation.SimHooks; class TimedRobotTest { static final double kPeriod = 0.02; diff --git a/wpilibj/src/test/java/org/wpilib/opmode/TimesliceRobotTest.java b/wpilibj/src/test/java/org/wpilib/opmode/TimesliceRobotTest.java index e86bfdea11..3b81e46340 100644 --- a/wpilibj/src/test/java/org/wpilib/opmode/TimesliceRobotTest.java +++ b/wpilibj/src/test/java/org/wpilib/opmode/TimesliceRobotTest.java @@ -7,13 +7,13 @@ package org.wpilib.opmode; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; -import org.wpilib.simulation.DriverStationSim; -import org.wpilib.simulation.SimHooks; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.simulation.DriverStationSim; +import org.wpilib.simulation.SimHooks; class TimesliceRobotTest { static class MockRobot extends TimesliceRobot { diff --git a/wpilibj/src/test/java/org/wpilib/simulation/ADXL345SimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/ADXL345SimTest.java index ced857d00a..afd7d6a960 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/ADXL345SimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/ADXL345SimTest.java @@ -6,11 +6,11 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.hardware.accelerometer.ADXL345_I2C; -import org.wpilib.hardware.bus.I2C; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.EnumSource; +import org.wpilib.hardware.accelerometer.ADXL345_I2C; +import org.wpilib.hardware.bus.I2C; +import org.wpilib.hardware.hal.HAL; class ADXL345SimTest { @ParameterizedTest diff --git a/wpilibj/src/test/java/org/wpilib/simulation/AddressableLEDSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/AddressableLEDSimTest.java index a92e30c724..335aac710f 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/AddressableLEDSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/AddressableLEDSimTest.java @@ -8,14 +8,14 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.Arrays; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.led.AddressableLED; import org.wpilib.hardware.led.AddressableLEDBuffer; import org.wpilib.simulation.testutils.BooleanCallback; import org.wpilib.simulation.testutils.BufferCallback; import org.wpilib.simulation.testutils.IntCallback; -import java.util.Arrays; -import org.junit.jupiter.api.Test; class AddressableLEDSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/AnalogEncoderSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/AnalogEncoderSimTest.java index f429fbd79d..5ad698325e 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/AnalogEncoderSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/AnalogEncoderSimTest.java @@ -6,9 +6,9 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.hardware.rotation.AnalogEncoder; -import org.wpilib.hardware.discrete.AnalogInput; import org.junit.jupiter.api.Test; +import org.wpilib.hardware.discrete.AnalogInput; +import org.wpilib.hardware.rotation.AnalogEncoder; class AnalogEncoderSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/AnalogInputSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/AnalogInputSimTest.java index e4e22d18d5..75a9e15670 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/AnalogInputSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/AnalogInputSimTest.java @@ -7,11 +7,11 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.discrete.AnalogInput; +import org.wpilib.hardware.hal.HAL; import org.wpilib.simulation.testutils.BooleanCallback; import org.wpilib.simulation.testutils.DoubleCallback; -import org.junit.jupiter.api.Test; class AnalogInputSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java index 6739e07720..9864dce6ef 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java @@ -9,6 +9,7 @@ import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertNull; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.pneumatic.CompressorConfigType; import org.wpilib.hardware.pneumatic.DoubleSolenoid; @@ -16,7 +17,6 @@ import org.wpilib.hardware.pneumatic.PneumaticsControlModule; import org.wpilib.hardware.pneumatic.PneumaticsModuleType; import org.wpilib.simulation.testutils.BooleanCallback; import org.wpilib.simulation.testutils.DoubleCallback; -import org.junit.jupiter.api.Test; class CTREPCMSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.java index 5c5d754401..9ccaa7db5f 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/DCMotorSimTest.java @@ -6,16 +6,16 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; +import org.wpilib.hardware.motor.PWMVictorSPX; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; -import org.wpilib.hardware.rotation.Encoder; import org.wpilib.system.RobotController; -import org.wpilib.hardware.motor.PWMVictorSPX; -import org.junit.jupiter.api.Test; class DCMotorSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/DIOSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/DIOSimTest.java index 789ec40eb7..fd683f7e12 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/DIOSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/DIOSimTest.java @@ -7,11 +7,11 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.discrete.DigitalInput; import org.wpilib.hardware.discrete.DigitalOutput; +import org.wpilib.hardware.hal.HAL; import org.wpilib.simulation.testutils.BooleanCallback; -import org.junit.jupiter.api.Test; class DIOSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/DifferentialDrivetrainSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/DifferentialDrivetrainSimTest.java index 0fae10c7a3..c0f2ec3c09 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/DifferentialDrivetrainSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/DifferentialDrivetrainSimTest.java @@ -7,15 +7,16 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; -import org.wpilib.math.linalg.Vector; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.controller.LTVUnicycleController; import org.wpilib.math.controller.LinearPlantInversionFeedforward; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.DifferentialDriveKinematics; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.linalg.Vector; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N7; import org.wpilib.math.system.NumericalIntegration; @@ -24,9 +25,8 @@ import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; import org.wpilib.math.trajectory.constraint.DifferentialDriveKinematicsConstraint; +import org.wpilib.math.util.Nat; import org.wpilib.math.util.Units; -import java.util.List; -import org.junit.jupiter.api.Test; class DifferentialDrivetrainSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/DigitalPWMSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/DigitalPWMSimTest.java index 772c85fb4d..40ae7c9fbc 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/DigitalPWMSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/DigitalPWMSimTest.java @@ -8,12 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.discrete.DigitalOutput; +import org.wpilib.hardware.hal.HAL; import org.wpilib.simulation.testutils.BooleanCallback; import org.wpilib.simulation.testutils.DoubleCallback; import org.wpilib.simulation.testutils.IntCallback; -import org.junit.jupiter.api.Test; class DigitalPWMSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/DriverStationSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/DriverStationSimTest.java index 185f687392..eb9647fc3c 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/DriverStationSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/DriverStationSimTest.java @@ -8,15 +8,15 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.AllianceStationID; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.driverstation.DriverStation; -import org.wpilib.simulation.testutils.BooleanCallback; -import org.wpilib.simulation.testutils.DoubleCallback; -import org.wpilib.simulation.testutils.EnumCallback; import org.junit.jupiter.api.Test; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.EnumSource; +import org.wpilib.driverstation.DriverStation; +import org.wpilib.hardware.hal.AllianceStationID; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.testutils.BooleanCallback; +import org.wpilib.simulation.testutils.DoubleCallback; +import org.wpilib.simulation.testutils.EnumCallback; class DriverStationSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/DutyCycleEncoderSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/DutyCycleEncoderSimTest.java index b78baccf26..879d1d7912 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/DutyCycleEncoderSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/DutyCycleEncoderSimTest.java @@ -8,9 +8,9 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.rotation.DutyCycleEncoder; -import org.junit.jupiter.api.Test; class DutyCycleEncoderSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/DutyCycleSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/DutyCycleSimTest.java index 2a69097dd7..c0330ce6f2 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/DutyCycleSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/DutyCycleSimTest.java @@ -8,11 +8,11 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.rotation.DutyCycle; import org.wpilib.simulation.testutils.BooleanCallback; import org.wpilib.simulation.testutils.DoubleCallback; -import org.junit.jupiter.api.Test; class DutyCycleSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/ElevatorSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/ElevatorSimTest.java index 80f0002f47..584ad6f7f3 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/ElevatorSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/ElevatorSimTest.java @@ -7,15 +7,15 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.VecBuilder; +import org.junit.jupiter.api.Test; +import org.wpilib.hardware.motor.PWMVictorSPX; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.util.Units; -import org.wpilib.hardware.rotation.Encoder; import org.wpilib.system.RobotController; -import org.wpilib.hardware.motor.PWMVictorSPX; -import org.junit.jupiter.api.Test; class ElevatorSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/EncoderSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/EncoderSimTest.java index 37fe2c875c..04fcbd2095 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/EncoderSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/EncoderSimTest.java @@ -7,11 +7,11 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.rotation.Encoder; import org.wpilib.simulation.testutils.DoubleCallback; import org.wpilib.simulation.testutils.IntCallback; -import org.junit.jupiter.api.Test; class EncoderSimTest { private static final double DEFAULT_DISTANCE_PER_PULSE = 0.0005; diff --git a/wpilibj/src/test/java/org/wpilib/simulation/PWMMotorControllerSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/PWMMotorControllerSimTest.java index c77effd6a2..9d898c0595 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/PWMMotorControllerSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/PWMMotorControllerSimTest.java @@ -6,9 +6,9 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.motor.Spark; -import org.junit.jupiter.api.Test; class PWMMotorControllerSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/PWMSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/PWMSimTest.java index ec92cb1c48..f16169636f 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/PWMSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/PWMSimTest.java @@ -8,11 +8,11 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.discrete.PWM; +import org.wpilib.hardware.hal.HAL; import org.wpilib.simulation.testutils.BooleanCallback; import org.wpilib.simulation.testutils.IntCallback; -import org.junit.jupiter.api.Test; class PWMSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java index 209c58808a..b67250d2da 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java @@ -9,6 +9,7 @@ import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertNull; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.pneumatic.CompressorConfigType; import org.wpilib.hardware.pneumatic.DoubleSolenoid; @@ -17,7 +18,6 @@ import org.wpilib.hardware.pneumatic.PneumaticsModuleType; import org.wpilib.simulation.testutils.BooleanCallback; import org.wpilib.simulation.testutils.DoubleCallback; import org.wpilib.simulation.testutils.EnumCallback; -import org.junit.jupiter.api.Test; class REVPHSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/RoboRioSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/RoboRioSimTest.java index 97cec602da..b6a3d13c12 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/RoboRioSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/RoboRioSimTest.java @@ -8,11 +8,11 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.system.RobotController; +import org.junit.jupiter.api.Test; import org.wpilib.simulation.testutils.BooleanCallback; import org.wpilib.simulation.testutils.DoubleCallback; import org.wpilib.simulation.testutils.IntCallback; -import org.junit.jupiter.api.Test; +import org.wpilib.system.RobotController; class RoboRioSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/SimDeviceSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/SimDeviceSimTest.java index 9252727a91..767f27ff78 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/SimDeviceSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/SimDeviceSimTest.java @@ -8,12 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.concurrent.atomic.AtomicInteger; +import org.junit.jupiter.api.Test; import org.wpilib.hardware.hal.SimBoolean; import org.wpilib.hardware.hal.SimDevice; import org.wpilib.hardware.hal.SimDevice.Direction; import org.wpilib.hardware.hal.SimValue; -import java.util.concurrent.atomic.AtomicInteger; -import org.junit.jupiter.api.Test; class SimDeviceSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/SingleJointedArmSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/SingleJointedArmSimTest.java index a12f058e2d..29c0f61125 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/SingleJointedArmSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/SingleJointedArmSimTest.java @@ -6,10 +6,10 @@ package org.wpilib.simulation; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.util.Units; -import org.junit.jupiter.api.Test; class SingleJointedArmSimTest { @Test diff --git a/wpilibj/src/test/java/org/wpilib/simulation/testutils/BufferCallback.java b/wpilibj/src/test/java/org/wpilib/simulation/testutils/BufferCallback.java index 7ebc8ec6eb..e3fbf4c143 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/testutils/BufferCallback.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/testutils/BufferCallback.java @@ -4,8 +4,8 @@ package org.wpilib.simulation.testutils; -import org.wpilib.hardware.hal.simulation.ConstBufferCallback; import java.util.Arrays; +import org.wpilib.hardware.hal.simulation.ConstBufferCallback; public class BufferCallback implements ConstBufferCallback { private boolean m_wasTriggered; diff --git a/wpilibj/src/test/java/org/wpilib/smartdashboard/Mechanism2dTest.java b/wpilibj/src/test/java/org/wpilib/smartdashboard/Mechanism2dTest.java index b80694f4d1..148d17baa3 100644 --- a/wpilibj/src/test/java/org/wpilib/smartdashboard/Mechanism2dTest.java +++ b/wpilibj/src/test/java/org/wpilib/smartdashboard/Mechanism2dTest.java @@ -7,11 +7,11 @@ package org.wpilib.smartdashboard; import static org.junit.jupiter.api.Assertions.assertArrayEquals; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.util.Color8Bit; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.util.Color8Bit; class Mechanism2dTest { private NetworkTableInstance m_inst; diff --git a/wpilibj/src/test/java/org/wpilib/smartdashboard/SendableChooserTest.java b/wpilibj/src/test/java/org/wpilib/smartdashboard/SendableChooserTest.java index daaf865dd6..e3b70bed52 100644 --- a/wpilibj/src/test/java/org/wpilib/smartdashboard/SendableChooserTest.java +++ b/wpilibj/src/test/java/org/wpilib/smartdashboard/SendableChooserTest.java @@ -7,14 +7,14 @@ package org.wpilib.smartdashboard; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNull; -import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.simulation.SendableChooserSim; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.ValueSource; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.simulation.SendableChooserSim; class SendableChooserTest { private NetworkTableInstance m_inst; diff --git a/wpilibj/src/test/java/org/wpilib/smartdashboard/SmartDashboardTest.java b/wpilibj/src/test/java/org/wpilib/smartdashboard/SmartDashboardTest.java index b37f2c3ddc..ca9aa3cf6a 100644 --- a/wpilibj/src/test/java/org/wpilib/smartdashboard/SmartDashboardTest.java +++ b/wpilibj/src/test/java/org/wpilib/smartdashboard/SmartDashboardTest.java @@ -7,12 +7,12 @@ package org.wpilib.smartdashboard; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; -import org.wpilib.networktables.NetworkTable; -import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.UtilityClassTest; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.UtilityClassTest; +import org.wpilib.networktables.NetworkTable; +import org.wpilib.networktables.NetworkTableInstance; class SmartDashboardTest extends UtilityClassTest { private NetworkTableInstance m_inst; diff --git a/wpilibj/src/test/java/org/wpilib/system/NotifierTest.java b/wpilibj/src/test/java/org/wpilib/system/NotifierTest.java index db53346ff0..fc5cb6103f 100644 --- a/wpilibj/src/test/java/org/wpilib/system/NotifierTest.java +++ b/wpilibj/src/test/java/org/wpilib/system/NotifierTest.java @@ -6,13 +6,13 @@ package org.wpilib.system; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.SimHooks; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.SimHooks; /** Tests to see if the Notifier is working properly. */ class NotifierTest { diff --git a/wpilibj/src/test/java/org/wpilib/system/TimerTest.java b/wpilibj/src/test/java/org/wpilib/system/TimerTest.java index 77db9e8191..d9dabfbb7d 100644 --- a/wpilibj/src/test/java/org/wpilib/system/TimerTest.java +++ b/wpilibj/src/test/java/org/wpilib/system/TimerTest.java @@ -8,12 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.SimHooks; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.SimHooks; class TimerTest { @BeforeEach diff --git a/wpilibj/src/test/java/org/wpilib/system/WatchdogTest.java b/wpilibj/src/test/java/org/wpilib/system/WatchdogTest.java index deea38d4f4..0f60eda074 100644 --- a/wpilibj/src/test/java/org/wpilib/system/WatchdogTest.java +++ b/wpilibj/src/test/java/org/wpilib/system/WatchdogTest.java @@ -8,13 +8,13 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.SimHooks; import java.util.concurrent.atomic.AtomicInteger; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.SimHooks; class WatchdogTest { @BeforeEach diff --git a/wpilibj/src/test/java/org/wpilib/util/AlertTest.java b/wpilibj/src/test/java/org/wpilib/util/AlertTest.java index 53f70199df..2757a73a31 100644 --- a/wpilibj/src/test/java/org/wpilib/util/AlertTest.java +++ b/wpilibj/src/test/java/org/wpilib/util/AlertTest.java @@ -8,11 +8,6 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.networktables.StringArraySubscriber; -import org.wpilib.util.Alert.AlertType; -import org.wpilib.simulation.SimHooks; -import org.wpilib.smartdashboard.SmartDashboard; import java.util.ArrayList; import java.util.Arrays; import java.util.List; @@ -21,6 +16,11 @@ import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; import org.junit.jupiter.api.TestInfo; import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.networktables.StringArraySubscriber; +import org.wpilib.simulation.SimHooks; +import org.wpilib.smartdashboard.SmartDashboard; +import org.wpilib.util.Alert.AlertType; class AlertTest { private NetworkTableInstance m_inst; diff --git a/wpilibj/src/test/java/org/wpilib/util/PreferencesTest.java b/wpilibj/src/test/java/org/wpilib/util/PreferencesTest.java index 231bb8f46c..0e849b6a12 100644 --- a/wpilibj/src/test/java/org/wpilib/util/PreferencesTest.java +++ b/wpilibj/src/test/java/org/wpilib/util/PreferencesTest.java @@ -11,9 +11,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue; import static org.junit.jupiter.api.Assertions.fail; import static org.junit.jupiter.api.parallel.ExecutionMode.SAME_THREAD; -import org.wpilib.networktables.NetworkTable; -import org.wpilib.networktables.NetworkTableInstance; -import org.wpilib.networktables.Topic; import java.io.IOException; import java.io.InputStream; import java.nio.file.Files; @@ -31,6 +28,9 @@ import org.junit.jupiter.api.io.TempDir; import org.junit.jupiter.api.parallel.Execution; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.MethodSource; +import org.wpilib.networktables.NetworkTable; +import org.wpilib.networktables.NetworkTableInstance; +import org.wpilib.networktables.Topic; @Execution(SAME_THREAD) class PreferencesTest { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/addressableled/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/addressableled/Robot.java index 2db52960a1..11c74ccf94 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/addressableled/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/addressableled/Robot.java @@ -7,11 +7,11 @@ package org.wpilib.examples.addressableled; import static org.wpilib.units.Units.Meters; import static org.wpilib.units.Units.MetersPerSecond; -import org.wpilib.units.measure.Distance; import org.wpilib.hardware.led.AddressableLED; import org.wpilib.hardware.led.AddressableLEDBuffer; import org.wpilib.hardware.led.LEDPattern; import org.wpilib.opmode.TimedRobot; +import org.wpilib.units.measure.Distance; public class Robot extends TimedRobot { private final AddressableLED m_led; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/apriltagsvision/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/apriltagsvision/Robot.java index aca0c7440c..9067c19959 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/apriltagsvision/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/apriltagsvision/Robot.java @@ -4,24 +4,24 @@ package org.wpilib.examples.apriltagsvision; -import org.wpilib.vision.apriltag.AprilTagDetection; -import org.wpilib.vision.apriltag.AprilTagDetector; -import org.wpilib.vision.apriltag.AprilTagPoseEstimator; -import org.wpilib.vision.stream.CameraServer; -import org.wpilib.vision.camera.CvSink; -import org.wpilib.vision.camera.CvSource; -import org.wpilib.vision.camera.UsbCamera; +import java.util.ArrayList; +import org.opencv.core.Mat; +import org.opencv.core.Point; +import org.opencv.core.Scalar; +import org.opencv.imgproc.Imgproc; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Transform3d; import org.wpilib.networktables.IntegerArrayPublisher; import org.wpilib.networktables.NetworkTable; import org.wpilib.networktables.NetworkTableInstance; import org.wpilib.opmode.TimedRobot; -import java.util.ArrayList; -import org.opencv.core.Mat; -import org.opencv.core.Point; -import org.opencv.core.Scalar; -import org.opencv.imgproc.Imgproc; +import org.wpilib.vision.apriltag.AprilTagDetection; +import org.wpilib.vision.apriltag.AprilTagDetector; +import org.wpilib.vision.apriltag.AprilTagPoseEstimator; +import org.wpilib.vision.camera.CvSink; +import org.wpilib.vision.camera.CvSource; +import org.wpilib.vision.camera.UsbCamera; +import org.wpilib.vision.stream.CameraServer; /** * This is a demo program showing the detection of AprilTags. The image is acquired from the USB diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrive/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrive/Robot.java index 6702ceb533..d5e575fc9b 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrive/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrive/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.arcadedrive; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.drive.DifferentialDrive; +import org.wpilib.driverstation.Joystick; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.util.sendable.SendableRegistry; /** * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Robot.java index 732e88abed..663f198ea7 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/arcadedrivexboxcontroller/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.arcadedrivexboxcontroller; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.opmode.TimedRobot; -import org.wpilib.driverstation.XboxController; import org.wpilib.drive.DifferentialDrive; +import org.wpilib.driverstation.XboxController; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.util.sendable.SendableRegistry; /** * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with split diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/Robot.java index 5afeeb1c30..df4a9fd83d 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/Robot.java @@ -5,8 +5,8 @@ package org.wpilib.examples.armsimulation; import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.examples.armsimulation.subsystems.Arm; +import org.wpilib.opmode.TimedRobot; /** This is a sample program to demonstrate the use of arm simulation with existing code. */ public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java b/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java index 45d5e5c565..6546281381 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java @@ -4,14 +4,12 @@ package org.wpilib.examples.armsimulation.subsystems; +import org.wpilib.examples.armsimulation.Constants; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.util.Units; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.util.Preferences; -import org.wpilib.system.RobotController; -import org.wpilib.examples.armsimulation.Constants; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.simulation.BatterySim; import org.wpilib.simulation.EncoderSim; import org.wpilib.simulation.RoboRioSim; @@ -20,8 +18,10 @@ import org.wpilib.smartdashboard.Mechanism2d; import org.wpilib.smartdashboard.MechanismLigament2d; import org.wpilib.smartdashboard.MechanismRoot2d; import org.wpilib.smartdashboard.SmartDashboard; +import org.wpilib.system.RobotController; import org.wpilib.util.Color; import org.wpilib.util.Color8Bit; +import org.wpilib.util.Preferences; public class Arm implements AutoCloseable { // The P gain for the PID controller that drives this arm. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java index 580ae1e569..627bba1c19 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java @@ -4,15 +4,15 @@ package org.wpilib.examples.differentialdrivebot; +import org.wpilib.hardware.imu.OnboardIMU; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.DifferentialDriveKinematics; import org.wpilib.math.kinematics.DifferentialDriveOdometry; import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.hardware.imu.OnboardIMU; -import org.wpilib.hardware.motor.PWMSparkMax; /** Represents a differential drive style drivetrain. */ public class Drivetrain { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Robot.java index fee605b71d..9a8f9eea91 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.differentialdrivebot; +import org.wpilib.driverstation.XboxController; import org.wpilib.math.filter.SlewRateLimiter; import org.wpilib.opmode.TimedRobot; -import org.wpilib.driverstation.XboxController; public class Robot extends TimedRobot { private final XboxController m_controller = new XboxController(0); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java index e24c25978a..df1a2ad6d3 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java @@ -4,10 +4,9 @@ package org.wpilib.examples.differentialdriveposeestimator; -import org.wpilib.vision.apriltag.AprilTagFieldLayout; -import org.wpilib.vision.apriltag.AprilTagFields; -import org.wpilib.math.util.ComputerVisionUtil; -import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.hardware.imu.OnboardIMU; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.estimator.DifferentialDrivePoseEstimator; @@ -20,22 +19,23 @@ import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.DifferentialDriveKinematics; import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; +import org.wpilib.math.util.ComputerVisionUtil; import org.wpilib.math.util.Units; import org.wpilib.networktables.DoubleArrayEntry; import org.wpilib.networktables.DoubleArrayTopic; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.hardware.imu.OnboardIMU; -import org.wpilib.system.RobotController; -import org.wpilib.system.Timer; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.simulation.DifferentialDrivetrainSim; import org.wpilib.simulation.EncoderSim; import org.wpilib.smartdashboard.Field2d; import org.wpilib.smartdashboard.SmartDashboard; +import org.wpilib.system.RobotController; +import org.wpilib.system.Timer; +import org.wpilib.vision.apriltag.AprilTagFieldLayout; +import org.wpilib.vision.apriltag.AprilTagFields; /** Represents a differential drive style drivetrain. */ public class Drivetrain { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/ExampleGlobalMeasurementSensor.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/ExampleGlobalMeasurementSensor.java index bd973af11e..229a45e4f2 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/ExampleGlobalMeasurementSensor.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/ExampleGlobalMeasurementSensor.java @@ -4,10 +4,10 @@ package org.wpilib.examples.differentialdriveposeestimator; -import org.wpilib.math.util.StateSpaceUtil; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.util.Units; /** This dummy class represents a global measurement sensor, such as a computer vision solution. */ diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Robot.java index 6ac8cdd900..06b77c4a01 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.differentialdriveposeestimator; +import org.wpilib.driverstation.XboxController; import org.wpilib.math.filter.SlewRateLimiter; import org.wpilib.networktables.DoubleArrayTopic; import org.wpilib.networktables.NetworkTableInstance; import org.wpilib.opmode.TimedRobot; -import org.wpilib.driverstation.XboxController; public class Robot extends TimedRobot { private final NetworkTableInstance m_inst = NetworkTableInstance.getDefault(); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/digitalcommunication/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/digitalcommunication/Robot.java index 2683bc7617..845088479f 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/digitalcommunication/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/digitalcommunication/Robot.java @@ -4,10 +4,10 @@ package org.wpilib.examples.digitalcommunication; -import org.wpilib.hardware.discrete.DigitalOutput; -import org.wpilib.driverstation.DriverStation; -import org.wpilib.opmode.TimedRobot; import java.util.Optional; +import org.wpilib.driverstation.DriverStation; +import org.wpilib.hardware.discrete.DigitalOutput; +import org.wpilib.opmode.TimedRobot; /** * This is a sample program demonstrating how to communicate to a light controller from the robot diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/Robot.java index b21c3b31d6..43a5bcd1bc 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.drivedistanceoffboard; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.TimedRobot; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java index 08100518c3..90d944b228 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/RobotContainer.java @@ -4,12 +4,12 @@ package org.wpilib.examples.drivedistanceoffboard; -import org.wpilib.driverstation.XboxController; -import org.wpilib.examples.drivedistanceoffboard.Constants.OIConstants; -import org.wpilib.examples.drivedistanceoffboard.subsystems.DriveSubsystem; import org.wpilib.command2.Command; import org.wpilib.command2.Commands; import org.wpilib.command2.button.CommandXboxController; +import org.wpilib.driverstation.XboxController; +import org.wpilib.examples.drivedistanceoffboard.Constants.OIConstants; +import org.wpilib.examples.drivedistanceoffboard.subsystems.DriveSubsystem; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java index e762c012e2..1ac77ac336 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java @@ -4,17 +4,17 @@ package org.wpilib.examples.drivedistanceoffboard.subsystems; -import org.wpilib.math.controller.SimpleMotorFeedforward; -import org.wpilib.math.trajectory.TrapezoidProfile; -import org.wpilib.math.trajectory.TrapezoidProfile.State; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.system.RobotController; -import org.wpilib.system.Timer; +import org.wpilib.command2.Command; +import org.wpilib.command2.SubsystemBase; import org.wpilib.drive.DifferentialDrive; import org.wpilib.examples.drivedistanceoffboard.Constants.DriveConstants; import org.wpilib.examples.drivedistanceoffboard.ExampleSmartMotorController; -import org.wpilib.command2.Command; -import org.wpilib.command2.SubsystemBase; +import org.wpilib.math.controller.SimpleMotorFeedforward; +import org.wpilib.math.trajectory.TrapezoidProfile; +import org.wpilib.math.trajectory.TrapezoidProfile.State; +import org.wpilib.system.RobotController; +import org.wpilib.system.Timer; +import org.wpilib.util.sendable.SendableRegistry; public class DriveSubsystem extends SubsystemBase { // The motors on the left side of the drive. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/dutycycleencoder/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/dutycycleencoder/Robot.java index f221ef047d..c27da7b4f6 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/dutycycleencoder/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/dutycycleencoder/Robot.java @@ -4,8 +4,8 @@ package org.wpilib.examples.dutycycleencoder; -import org.wpilib.math.util.MathUtil; import org.wpilib.hardware.rotation.DutyCycleEncoder; +import org.wpilib.math.util.MathUtil; import org.wpilib.opmode.TimedRobot; import org.wpilib.smartdashboard.SmartDashboard; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/Robot.java index 810a68070a..aec91cdf96 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.elevatorexponentialprofile; +import org.wpilib.driverstation.Joystick; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.trajectory.ExponentialProfile; -import org.wpilib.driverstation.Joystick; import org.wpilib.opmode.TimedRobot; public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/Robot.java index e3295ce6b0..1730a1bc20 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/Robot.java @@ -5,8 +5,8 @@ package org.wpilib.examples.elevatorexponentialsimulation; import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.examples.elevatorexponentialsimulation.subsystems.Elevator; +import org.wpilib.opmode.TimedRobot; /** This is a sample program to demonstrate the use of elevator simulation. */ public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java index 0f8d7ad06d..c77f3cee29 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java @@ -4,15 +4,14 @@ package org.wpilib.examples.elevatorexponentialsimulation.subsystems; +import org.wpilib.examples.elevatorexponentialsimulation.Constants; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.ElevatorFeedforward; import org.wpilib.math.controller.PIDController; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.trajectory.ExponentialProfile; import org.wpilib.math.util.Units; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.system.RobotController; -import org.wpilib.examples.elevatorexponentialsimulation.Constants; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.simulation.BatterySim; import org.wpilib.simulation.ElevatorSim; import org.wpilib.simulation.EncoderSim; @@ -22,6 +21,7 @@ import org.wpilib.smartdashboard.Mechanism2d; import org.wpilib.smartdashboard.MechanismLigament2d; import org.wpilib.smartdashboard.MechanismRoot2d; import org.wpilib.smartdashboard.SmartDashboard; +import org.wpilib.system.RobotController; public class Elevator implements AutoCloseable { // This gearbox represents a gearbox containing 4 Vex 775pro motors. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorprofiledpid/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorprofiledpid/Robot.java index 602f700107..9a4b13566d 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorprofiledpid/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorprofiledpid/Robot.java @@ -4,13 +4,13 @@ package org.wpilib.examples.elevatorprofiledpid; +import org.wpilib.driverstation.Joystick; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.ElevatorFeedforward; import org.wpilib.math.controller.ProfiledPIDController; import org.wpilib.math.trajectory.TrapezoidProfile; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.driverstation.Joystick; import org.wpilib.opmode.TimedRobot; -import org.wpilib.hardware.motor.PWMSparkMax; public class Robot extends TimedRobot { private static double kDt = 0.02; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/Robot.java index b9e09a36b5..6232b8f255 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/Robot.java @@ -5,8 +5,8 @@ package org.wpilib.examples.elevatorsimulation; import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.examples.elevatorsimulation.subsystems.Elevator; +import org.wpilib.opmode.TimedRobot; /** This is a sample program to demonstrate the use of elevator simulation. */ public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java index e661c3941d..4e5f550324 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java @@ -4,14 +4,13 @@ package org.wpilib.examples.elevatorsimulation.subsystems; +import org.wpilib.examples.elevatorsimulation.Constants; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.ElevatorFeedforward; import org.wpilib.math.controller.ProfiledPIDController; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.trajectory.TrapezoidProfile; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.system.RobotController; -import org.wpilib.examples.elevatorsimulation.Constants; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.simulation.BatterySim; import org.wpilib.simulation.ElevatorSim; import org.wpilib.simulation.EncoderSim; @@ -21,6 +20,7 @@ import org.wpilib.smartdashboard.Mechanism2d; import org.wpilib.smartdashboard.MechanismLigament2d; import org.wpilib.smartdashboard.MechanismRoot2d; import org.wpilib.smartdashboard.SmartDashboard; +import org.wpilib.system.RobotController; public class Elevator implements AutoCloseable { // This gearbox represents a gearbox containing 4 Vex 775pro motors. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/Robot.java index bfc4333431..94d9b31e24 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.elevatortrapezoidprofile; +import org.wpilib.driverstation.Joystick; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.trajectory.TrapezoidProfile; -import org.wpilib.driverstation.Joystick; import org.wpilib.opmode.TimedRobot; public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/eventloop/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/eventloop/Robot.java index a51faafe43..dd5871b1b0 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/eventloop/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/eventloop/Robot.java @@ -4,14 +4,14 @@ package org.wpilib.examples.eventloop; -import org.wpilib.math.controller.PIDController; -import org.wpilib.math.controller.SimpleMotorFeedforward; -import org.wpilib.hardware.rotation.Encoder; import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.event.BooleanEvent; import org.wpilib.event.EventLoop; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.math.controller.PIDController; +import org.wpilib.math.controller.SimpleMotorFeedforward; +import org.wpilib.opmode.TimedRobot; public class Robot extends TimedRobot { public static final double SHOT_VELOCITY = 200; // rpm diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/flywheelbangbangcontroller/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/flywheelbangbangcontroller/Robot.java index 9d559229fc..f57dccb4fd 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/flywheelbangbangcontroller/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/flywheelbangbangcontroller/Robot.java @@ -4,6 +4,9 @@ package org.wpilib.examples.flywheelbangbangcontroller; +import org.wpilib.driverstation.Joystick; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.BangBangController; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.numbers.N1; @@ -11,14 +14,11 @@ import org.wpilib.math.system.LinearSystem; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.util.Units; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.driverstation.Joystick; -import org.wpilib.system.RobotController; import org.wpilib.opmode.TimedRobot; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.simulation.EncoderSim; import org.wpilib.simulation.FlywheelSim; import org.wpilib.smartdashboard.SmartDashboard; +import org.wpilib.system.RobotController; /** * This is a sample program to demonstrate the use of a BangBangController with a flywheel to diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java index c9367539fd..4a58146d74 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/gettingstarted/Robot.java @@ -4,12 +4,12 @@ package org.wpilib.examples.gettingstarted; -import org.wpilib.util.sendable.SendableRegistry; +import org.wpilib.drive.DifferentialDrive; +import org.wpilib.driverstation.XboxController; +import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.opmode.TimedRobot; import org.wpilib.system.Timer; -import org.wpilib.driverstation.XboxController; -import org.wpilib.drive.DifferentialDrive; -import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.util.sendable.SendableRegistry; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java index 28933ae14d..4600bba005 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java @@ -4,12 +4,12 @@ package org.wpilib.examples.gyro; -import org.wpilib.util.sendable.SendableRegistry; +import org.wpilib.drive.DifferentialDrive; import org.wpilib.driverstation.Joystick; import org.wpilib.hardware.imu.OnboardIMU; -import org.wpilib.opmode.TimedRobot; -import org.wpilib.drive.DifferentialDrive; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.util.sendable.SendableRegistry; /** * This is a sample program to demonstrate how to use a gyro sensor to make a robot drive straight. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/gyromecanum/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/gyromecanum/Robot.java index 1eb8f902ba..1accc501ef 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/gyromecanum/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/gyromecanum/Robot.java @@ -4,12 +4,12 @@ package org.wpilib.examples.gyromecanum; -import org.wpilib.util.sendable.SendableRegistry; +import org.wpilib.drive.MecanumDrive; import org.wpilib.driverstation.Joystick; import org.wpilib.hardware.imu.OnboardIMU; -import org.wpilib.opmode.TimedRobot; -import org.wpilib.drive.MecanumDrive; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.util.sendable.SendableRegistry; /** * This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation vectors diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/Robot.java index 2f34474d3c..68257d7923 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.hatchbotinlined; -import org.wpilib.system.DataLogManager; -import org.wpilib.driverstation.DriverStation; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.driverstation.DriverStation; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.system.DataLogManager; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java index 6eb1db876e..e4f34f7edb 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/RobotContainer.java @@ -4,6 +4,9 @@ package org.wpilib.examples.hatchbotinlined; +import org.wpilib.command2.Command; +import org.wpilib.command2.Commands; +import org.wpilib.command2.button.CommandPS4Controller; import org.wpilib.driverstation.PS4Controller; import org.wpilib.examples.hatchbotinlined.Constants.OIConstants; import org.wpilib.examples.hatchbotinlined.commands.Autos; @@ -11,9 +14,6 @@ import org.wpilib.examples.hatchbotinlined.subsystems.DriveSubsystem; import org.wpilib.examples.hatchbotinlined.subsystems.HatchSubsystem; import org.wpilib.smartdashboard.SendableChooser; import org.wpilib.smartdashboard.SmartDashboard; -import org.wpilib.command2.Command; -import org.wpilib.command2.Commands; -import org.wpilib.command2.button.CommandPS4Controller; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/commands/Autos.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/commands/Autos.java index a815f6d348..db254985a4 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/commands/Autos.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/commands/Autos.java @@ -4,12 +4,12 @@ package org.wpilib.examples.hatchbotinlined.commands; -import org.wpilib.examples.hatchbotinlined.Constants.AutoConstants; -import org.wpilib.examples.hatchbotinlined.subsystems.DriveSubsystem; -import org.wpilib.examples.hatchbotinlined.subsystems.HatchSubsystem; import org.wpilib.command2.Command; import org.wpilib.command2.Commands; import org.wpilib.command2.FunctionalCommand; +import org.wpilib.examples.hatchbotinlined.Constants.AutoConstants; +import org.wpilib.examples.hatchbotinlined.subsystems.DriveSubsystem; +import org.wpilib.examples.hatchbotinlined.subsystems.HatchSubsystem; /** Container for auto command factories. */ public final class Autos { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/DriveSubsystem.java index e7ba51f571..5fbce632f8 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/DriveSubsystem.java @@ -4,13 +4,13 @@ package org.wpilib.examples.hatchbotinlined.subsystems; -import org.wpilib.util.sendable.SendableBuilder; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.command2.SubsystemBase; import org.wpilib.drive.DifferentialDrive; import org.wpilib.examples.hatchbotinlined.Constants.DriveConstants; import org.wpilib.hardware.motor.PWMSparkMax; -import org.wpilib.command2.SubsystemBase; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.util.sendable.SendableBuilder; +import org.wpilib.util.sendable.SendableRegistry; public class DriveSubsystem extends SubsystemBase { // The motors on the left side of the drive. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java index 17ad5e82ac..72c71e563f 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java @@ -7,12 +7,12 @@ package org.wpilib.examples.hatchbotinlined.subsystems; import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kForward; import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kReverse; -import org.wpilib.util.sendable.SendableBuilder; -import org.wpilib.hardware.pneumatic.DoubleSolenoid; -import org.wpilib.hardware.pneumatic.PneumaticsModuleType; -import org.wpilib.examples.hatchbotinlined.Constants.HatchConstants; import org.wpilib.command2.Command; import org.wpilib.command2.SubsystemBase; +import org.wpilib.examples.hatchbotinlined.Constants.HatchConstants; +import org.wpilib.hardware.pneumatic.DoubleSolenoid; +import org.wpilib.hardware.pneumatic.PneumaticsModuleType; +import org.wpilib.util.sendable.SendableBuilder; /** A hatch mechanism actuated by a single {@link org.wpilib.hardware.pneumatic.DoubleSolenoid}. */ public class HatchSubsystem extends SubsystemBase { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/Robot.java index a071c23cc4..4a29c080f8 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.hatchbottraditional; -import org.wpilib.system.DataLogManager; -import org.wpilib.driverstation.DriverStation; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.driverstation.DriverStation; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.system.DataLogManager; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java index df06985259..b28c86ed68 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/RobotContainer.java @@ -6,6 +6,8 @@ package org.wpilib.examples.hatchbottraditional; import static org.wpilib.driverstation.XboxController.Button; +import org.wpilib.command2.Command; +import org.wpilib.command2.button.JoystickButton; import org.wpilib.driverstation.XboxController; import org.wpilib.examples.hatchbottraditional.Constants.AutoConstants; import org.wpilib.examples.hatchbottraditional.Constants.OIConstants; @@ -19,8 +21,6 @@ import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem; import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem; import org.wpilib.smartdashboard.SendableChooser; import org.wpilib.smartdashboard.SmartDashboard; -import org.wpilib.command2.Command; -import org.wpilib.command2.button.JoystickButton; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/ComplexAuto.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/ComplexAuto.java index 5ce24bd90d..babc759924 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/ComplexAuto.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/ComplexAuto.java @@ -4,10 +4,10 @@ package org.wpilib.examples.hatchbottraditional.commands; +import org.wpilib.command2.SequentialCommandGroup; import org.wpilib.examples.hatchbottraditional.Constants.AutoConstants; import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem; import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem; -import org.wpilib.command2.SequentialCommandGroup; /** A complex auto command that drives forward, releases a hatch, and then drives backward. */ public class ComplexAuto extends SequentialCommandGroup { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/DefaultDrive.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/DefaultDrive.java index 12f7bf341f..ed7ac70eeb 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/DefaultDrive.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/DefaultDrive.java @@ -4,9 +4,9 @@ package org.wpilib.examples.hatchbottraditional.commands; -import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem; -import org.wpilib.command2.Command; import java.util.function.DoubleSupplier; +import org.wpilib.command2.Command; +import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem; /** * A command to drive the robot with joystick input (passed in as {@link DoubleSupplier}s). Written diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/DriveDistance.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/DriveDistance.java index ddf97d5770..68767a8164 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/DriveDistance.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/DriveDistance.java @@ -4,8 +4,8 @@ package org.wpilib.examples.hatchbottraditional.commands; -import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem; import org.wpilib.command2.Command; +import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem; public class DriveDistance extends Command { private final DriveSubsystem m_drive; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/GrabHatch.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/GrabHatch.java index 448a84f88d..a2b5802bc0 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/GrabHatch.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/GrabHatch.java @@ -4,8 +4,8 @@ package org.wpilib.examples.hatchbottraditional.commands; -import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem; import org.wpilib.command2.Command; +import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem; /** * A simple command that grabs a hatch with the {@link HatchSubsystem}. Written explicitly for diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/HalveDriveSpeed.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/HalveDriveSpeed.java index 6dd6e49e65..1de26488ee 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/HalveDriveSpeed.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/HalveDriveSpeed.java @@ -4,8 +4,8 @@ package org.wpilib.examples.hatchbottraditional.commands; -import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem; import org.wpilib.command2.Command; +import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem; public class HalveDriveSpeed extends Command { private final DriveSubsystem m_drive; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/ReleaseHatch.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/ReleaseHatch.java index b8cda78958..09796a41fe 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/ReleaseHatch.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/commands/ReleaseHatch.java @@ -4,8 +4,8 @@ package org.wpilib.examples.hatchbottraditional.commands; -import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem; import org.wpilib.command2.InstantCommand; +import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem; /** A command that releases the hatch. */ public class ReleaseHatch extends InstantCommand { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/DriveSubsystem.java index 663bf8eb46..8bd922ddff 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/DriveSubsystem.java @@ -4,13 +4,13 @@ package org.wpilib.examples.hatchbottraditional.subsystems; -import org.wpilib.util.sendable.SendableBuilder; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.command2.SubsystemBase; import org.wpilib.drive.DifferentialDrive; import org.wpilib.examples.hatchbottraditional.Constants.DriveConstants; import org.wpilib.hardware.motor.PWMSparkMax; -import org.wpilib.command2.SubsystemBase; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.util.sendable.SendableBuilder; +import org.wpilib.util.sendable.SendableRegistry; public class DriveSubsystem extends SubsystemBase { // The motors on the left side of the drive. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java index 00d7de8a8e..de861faada 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java @@ -7,11 +7,11 @@ package org.wpilib.examples.hatchbottraditional.subsystems; import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kForward; import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kReverse; -import org.wpilib.util.sendable.SendableBuilder; +import org.wpilib.command2.SubsystemBase; +import org.wpilib.examples.hatchbottraditional.Constants.HatchConstants; import org.wpilib.hardware.pneumatic.DoubleSolenoid; import org.wpilib.hardware.pneumatic.PneumaticsModuleType; -import org.wpilib.examples.hatchbottraditional.Constants.HatchConstants; -import org.wpilib.command2.SubsystemBase; +import org.wpilib.util.sendable.SendableBuilder; /** A hatch mechanism actuated by a single {@link DoubleSolenoid}. */ public class HatchSubsystem extends SubsystemBase { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java index 43f02b3ca5..e1c2fec47b 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hidrumble/Robot.java @@ -5,8 +5,8 @@ package org.wpilib.examples.hidrumble; import org.wpilib.driverstation.GenericHID.RumbleType; -import org.wpilib.opmode.TimedRobot; import org.wpilib.driverstation.XboxController; +import org.wpilib.opmode.TimedRobot; /** This is a demo program showing the use of GenericHID's rumble feature. */ public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/httpcamera/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/httpcamera/Robot.java index 37d6a8a327..80e6f8ed2b 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/httpcamera/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/httpcamera/Robot.java @@ -4,15 +4,15 @@ package org.wpilib.examples.httpcamera; -import org.wpilib.vision.stream.CameraServer; -import org.wpilib.vision.camera.CvSink; -import org.wpilib.vision.camera.CvSource; -import org.wpilib.vision.camera.HttpCamera; -import org.wpilib.opmode.TimedRobot; import org.opencv.core.Mat; import org.opencv.core.Point; import org.opencv.core.Scalar; import org.opencv.imgproc.Imgproc; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.vision.camera.CvSink; +import org.wpilib.vision.camera.CvSource; +import org.wpilib.vision.camera.HttpCamera; +import org.wpilib.vision.stream.CameraServer; /** * This is a demo program showing the use of OpenCV to do vision processing. The image is acquired diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/i2ccommunication/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/i2ccommunication/Robot.java index 6780a9c6b5..8554c282ef 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/i2ccommunication/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/i2ccommunication/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.i2ccommunication; +import java.util.Optional; import org.wpilib.driverstation.DriverStation; import org.wpilib.hardware.bus.I2C; import org.wpilib.hardware.bus.I2C.Port; import org.wpilib.opmode.TimedRobot; -import java.util.Optional; /** * This is a sample program demonstrating how to communicate to a light controller from the robot diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/intermediatevision/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/intermediatevision/Robot.java index cf41bffb28..b42b278fca 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/intermediatevision/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/intermediatevision/Robot.java @@ -4,15 +4,15 @@ package org.wpilib.examples.intermediatevision; -import org.wpilib.vision.stream.CameraServer; -import org.wpilib.vision.camera.CvSink; -import org.wpilib.vision.camera.CvSource; -import org.wpilib.vision.camera.UsbCamera; -import org.wpilib.opmode.TimedRobot; import org.opencv.core.Mat; import org.opencv.core.Point; import org.opencv.core.Scalar; import org.opencv.imgproc.Imgproc; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.vision.camera.CvSink; +import org.wpilib.vision.camera.CvSource; +import org.wpilib.vision.camera.UsbCamera; +import org.wpilib.vision.stream.CameraServer; /** * This is a demo program showing the use of OpenCV to do vision processing. The image is acquired diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java index 332dc16584..e58e3c7a85 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java @@ -4,6 +4,9 @@ package org.wpilib.examples.mecanumbot; +import org.wpilib.hardware.imu.OnboardIMU; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.geometry.Translation2d; @@ -12,9 +15,6 @@ import org.wpilib.math.kinematics.MecanumDriveKinematics; import org.wpilib.math.kinematics.MecanumDriveOdometry; import org.wpilib.math.kinematics.MecanumDriveWheelPositions; import org.wpilib.math.kinematics.MecanumDriveWheelSpeeds; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.hardware.imu.OnboardIMU; -import org.wpilib.hardware.motor.PWMSparkMax; /** Represents a mecanum drive style drivetrain. */ public class Drivetrain { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Robot.java index 51a6fc2576..5adec03450 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.mecanumbot; +import org.wpilib.driverstation.XboxController; import org.wpilib.math.filter.SlewRateLimiter; import org.wpilib.opmode.TimedRobot; -import org.wpilib.driverstation.XboxController; public class Robot extends TimedRobot { private final XboxController m_controller = new XboxController(0); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java index bf4d7f5eb3..d10da6c25a 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.mecanumdrive; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.drive.MecanumDrive; +import org.wpilib.driverstation.Joystick; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.util.sendable.SendableRegistry; /** This is a demo program showing how to use Mecanum control with the MecanumDrive class. */ public class Robot extends TimedRobot { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java index 1c86d09c82..525a9096d2 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java @@ -4,7 +4,9 @@ package org.wpilib.examples.mecanumdriveposeestimator; -import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.hardware.imu.OnboardIMU; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.estimator.MecanumDrivePoseEstimator; @@ -14,11 +16,9 @@ import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.MecanumDriveKinematics; import org.wpilib.math.kinematics.MecanumDriveWheelPositions; import org.wpilib.math.kinematics.MecanumDriveWheelSpeeds; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.util.Units; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.hardware.imu.OnboardIMU; import org.wpilib.system.Timer; -import org.wpilib.hardware.motor.PWMSparkMax; /** Represents a mecanum drive style drivetrain. */ public class Drivetrain { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java index fe5e86c776..d0bbde0e34 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java @@ -4,10 +4,10 @@ package org.wpilib.examples.mecanumdriveposeestimator; -import org.wpilib.math.util.StateSpaceUtil; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.util.Units; /** This dummy class represents a global measurement sensor, such as a computer vision solution. */ diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Robot.java index 6cc375dbc2..0779e29e19 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.mecanumdriveposeestimator; +import org.wpilib.driverstation.XboxController; import org.wpilib.math.filter.SlewRateLimiter; import org.wpilib.opmode.TimedRobot; -import org.wpilib.driverstation.XboxController; public class Robot extends TimedRobot { private final XboxController m_controller = new XboxController(0); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Robot.java index c48019b334..cee73786a2 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mechanism2d/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.mechanism2d; +import org.wpilib.driverstation.Joystick; +import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.hardware.rotation.AnalogPotentiometer; import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.driverstation.Joystick; import org.wpilib.opmode.TimedRobot; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.smartdashboard.Mechanism2d; import org.wpilib.smartdashboard.MechanismLigament2d; import org.wpilib.smartdashboard.MechanismRoot2d; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/motorcontrol/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/motorcontrol/Robot.java index d986aba04b..e97223fe13 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/motorcontrol/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/motorcontrol/Robot.java @@ -4,10 +4,10 @@ package org.wpilib.examples.motorcontrol; -import org.wpilib.hardware.rotation.Encoder; import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.opmode.TimedRobot; import org.wpilib.smartdashboard.SmartDashboard; /** diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/potentiometerpid/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/potentiometerpid/Robot.java index b942429bd1..701c0c05b1 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/potentiometerpid/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/potentiometerpid/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.potentiometerpid; -import org.wpilib.math.controller.PIDController; -import org.wpilib.hardware.rotation.AnalogPotentiometer; import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.AnalogPotentiometer; +import org.wpilib.math.controller.PIDController; +import org.wpilib.opmode.TimedRobot; /** * This is a sample program to demonstrate how to use a soft potentiometer and a PID controller to diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java index affb79ccb3..6d1ad099c4 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java @@ -4,8 +4,8 @@ package org.wpilib.examples.quickvision; -import org.wpilib.vision.stream.CameraServer; import org.wpilib.opmode.TimedRobot; +import org.wpilib.vision.stream.CameraServer; /** * Uses the CameraServer class to automatically capture video from a USB webcam and send it to the diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java index f550a00c2e..9fa35347db 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/RapidReactCommandBot.java @@ -6,6 +6,9 @@ package org.wpilib.examples.rapidreactcommandbot; import static org.wpilib.command2.Commands.parallel; +import org.wpilib.command2.Command; +import org.wpilib.command2.button.CommandXboxController; +import org.wpilib.command2.button.Trigger; import org.wpilib.epilogue.Logged; import org.wpilib.examples.rapidreactcommandbot.Constants.AutoConstants; import org.wpilib.examples.rapidreactcommandbot.Constants.OIConstants; @@ -15,9 +18,6 @@ import org.wpilib.examples.rapidreactcommandbot.subsystems.Intake; import org.wpilib.examples.rapidreactcommandbot.subsystems.Pneumatics; import org.wpilib.examples.rapidreactcommandbot.subsystems.Shooter; import org.wpilib.examples.rapidreactcommandbot.subsystems.Storage; -import org.wpilib.command2.Command; -import org.wpilib.command2.button.CommandXboxController; -import org.wpilib.command2.button.Trigger; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/Robot.java index 23b2bfe1e8..d40c39e1a5 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/Robot.java @@ -4,12 +4,12 @@ package org.wpilib.examples.rapidreactcommandbot; -import org.wpilib.epilogue.Epilogue; -import org.wpilib.epilogue.Logged; -import org.wpilib.system.DataLogManager; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.epilogue.Epilogue; +import org.wpilib.epilogue.Logged; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.system.DataLogManager; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java index cba4ab8fc1..2270ff118e 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java @@ -4,21 +4,21 @@ package org.wpilib.examples.rapidreactcommandbot.subsystems; +import java.util.function.DoubleSupplier; +import org.wpilib.command2.Command; +import org.wpilib.command2.SubsystemBase; +import org.wpilib.drive.DifferentialDrive; import org.wpilib.epilogue.Logged; import org.wpilib.epilogue.NotLogged; +import org.wpilib.examples.rapidreactcommandbot.Constants.DriveConstants; +import org.wpilib.hardware.imu.OnboardIMU; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.ProfiledPIDController; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.trajectory.TrapezoidProfile; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.hardware.imu.OnboardIMU; import org.wpilib.system.RobotController; -import org.wpilib.drive.DifferentialDrive; -import org.wpilib.examples.rapidreactcommandbot.Constants.DriveConstants; -import org.wpilib.hardware.motor.PWMSparkMax; -import org.wpilib.command2.Command; -import org.wpilib.command2.SubsystemBase; -import java.util.function.DoubleSupplier; +import org.wpilib.util.sendable.SendableRegistry; @Logged public class Drive extends SubsystemBase { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java index 74e753c175..0bdf06b207 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java @@ -6,13 +6,13 @@ package org.wpilib.examples.rapidreactcommandbot.subsystems; import static org.wpilib.examples.rapidreactcommandbot.Constants.IntakeConstants; -import org.wpilib.epilogue.Logged; -import org.wpilib.hardware.pneumatic.DoubleSolenoid; -import org.wpilib.hardware.pneumatic.PneumaticsModuleType; -import org.wpilib.examples.rapidreactcommandbot.Constants.IntakeConstants; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.command2.Command; import org.wpilib.command2.SubsystemBase; +import org.wpilib.epilogue.Logged; +import org.wpilib.examples.rapidreactcommandbot.Constants.IntakeConstants; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.pneumatic.DoubleSolenoid; +import org.wpilib.hardware.pneumatic.PneumaticsModuleType; @Logged public class Intake extends SubsystemBase { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Pneumatics.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Pneumatics.java index 30441f7ff7..2aaf5c5900 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Pneumatics.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Pneumatics.java @@ -4,12 +4,12 @@ package org.wpilib.examples.rapidreactcommandbot.subsystems; -import org.wpilib.epilogue.Logged; -import org.wpilib.hardware.rotation.AnalogPotentiometer; -import org.wpilib.hardware.pneumatic.Compressor; -import org.wpilib.hardware.pneumatic.PneumaticsModuleType; import org.wpilib.command2.Command; import org.wpilib.command2.SubsystemBase; +import org.wpilib.epilogue.Logged; +import org.wpilib.hardware.pneumatic.Compressor; +import org.wpilib.hardware.pneumatic.PneumaticsModuleType; +import org.wpilib.hardware.rotation.AnalogPotentiometer; /** Subsystem for managing the compressor, pressure sensor, etc. */ @Logged diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Shooter.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Shooter.java index 46b87823f2..2a2edaf732 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Shooter.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Shooter.java @@ -7,14 +7,14 @@ package org.wpilib.examples.rapidreactcommandbot.subsystems; import static org.wpilib.command2.Commands.parallel; import static org.wpilib.command2.Commands.waitUntil; -import org.wpilib.epilogue.Logged; -import org.wpilib.math.controller.PIDController; -import org.wpilib.math.controller.SimpleMotorFeedforward; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.examples.rapidreactcommandbot.Constants.ShooterConstants; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.command2.Command; import org.wpilib.command2.SubsystemBase; +import org.wpilib.epilogue.Logged; +import org.wpilib.examples.rapidreactcommandbot.Constants.ShooterConstants; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.math.controller.PIDController; +import org.wpilib.math.controller.SimpleMotorFeedforward; @Logged public class Shooter extends SubsystemBase { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Storage.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Storage.java index 5c719f6918..b6994d24f3 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Storage.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Storage.java @@ -4,14 +4,14 @@ package org.wpilib.examples.rapidreactcommandbot.subsystems; -import org.wpilib.epilogue.Logged; -import org.wpilib.epilogue.NotLogged; -import org.wpilib.hardware.discrete.DigitalInput; -import org.wpilib.examples.rapidreactcommandbot.Constants.StorageConstants; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.command2.Command; import org.wpilib.command2.SubsystemBase; import org.wpilib.command2.button.Trigger; +import org.wpilib.epilogue.Logged; +import org.wpilib.epilogue.NotLogged; +import org.wpilib.examples.rapidreactcommandbot.Constants.StorageConstants; +import org.wpilib.hardware.discrete.DigitalInput; +import org.wpilib.hardware.motor.PWMSparkMax; @Logged public class Storage extends SubsystemBase { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/Robot.java index 493438a229..cb641b0f6b 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.romireference; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.TimedRobot; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java index 343fd5b190..76dbb22de8 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/RobotContainer.java @@ -4,6 +4,9 @@ package org.wpilib.examples.romireference; +import org.wpilib.command2.Command; +import org.wpilib.command2.PrintCommand; +import org.wpilib.command2.button.Trigger; import org.wpilib.driverstation.GenericHID; import org.wpilib.driverstation.Joystick; import org.wpilib.driverstation.XboxController; @@ -15,9 +18,6 @@ import org.wpilib.romi.OnBoardIO; import org.wpilib.romi.OnBoardIO.ChannelMode; import org.wpilib.smartdashboard.SendableChooser; import org.wpilib.smartdashboard.SmartDashboard; -import org.wpilib.command2.Command; -import org.wpilib.command2.PrintCommand; -import org.wpilib.command2.button.Trigger; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/ArcadeDrive.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/ArcadeDrive.java index 29e7c3c2c0..7d400de7cd 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/ArcadeDrive.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/ArcadeDrive.java @@ -4,9 +4,9 @@ package org.wpilib.examples.romireference.commands; -import org.wpilib.examples.romireference.subsystems.Drivetrain; -import org.wpilib.command2.Command; import java.util.function.Supplier; +import org.wpilib.command2.Command; +import org.wpilib.examples.romireference.subsystems.Drivetrain; public class ArcadeDrive extends Command { private final Drivetrain m_drivetrain; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/AutonomousDistance.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/AutonomousDistance.java index aa42204d52..3af376d79f 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/AutonomousDistance.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/AutonomousDistance.java @@ -4,8 +4,8 @@ package org.wpilib.examples.romireference.commands; -import org.wpilib.examples.romireference.subsystems.Drivetrain; import org.wpilib.command2.SequentialCommandGroup; +import org.wpilib.examples.romireference.subsystems.Drivetrain; public class AutonomousDistance extends SequentialCommandGroup { /** diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/AutonomousTime.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/AutonomousTime.java index e9b4c904fc..3ff7d3040c 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/AutonomousTime.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/AutonomousTime.java @@ -4,8 +4,8 @@ package org.wpilib.examples.romireference.commands; -import org.wpilib.examples.romireference.subsystems.Drivetrain; import org.wpilib.command2.SequentialCommandGroup; +import org.wpilib.examples.romireference.subsystems.Drivetrain; public class AutonomousTime extends SequentialCommandGroup { /** diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveDistance.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveDistance.java index da3ea45e5e..918f17aaad 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveDistance.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveDistance.java @@ -4,8 +4,8 @@ package org.wpilib.examples.romireference.commands; -import org.wpilib.examples.romireference.subsystems.Drivetrain; import org.wpilib.command2.Command; +import org.wpilib.examples.romireference.subsystems.Drivetrain; public class DriveDistance extends Command { private final Drivetrain m_drive; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveTime.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveTime.java index e2c73744ac..ed7d6973a1 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveTime.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/DriveTime.java @@ -4,8 +4,8 @@ package org.wpilib.examples.romireference.commands; -import org.wpilib.examples.romireference.subsystems.Drivetrain; import org.wpilib.command2.Command; +import org.wpilib.examples.romireference.subsystems.Drivetrain; public class DriveTime extends Command { private final double m_duration; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnDegrees.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnDegrees.java index d38d248658..620c6e87f0 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnDegrees.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnDegrees.java @@ -4,8 +4,8 @@ package org.wpilib.examples.romireference.commands; -import org.wpilib.examples.romireference.subsystems.Drivetrain; import org.wpilib.command2.Command; +import org.wpilib.examples.romireference.subsystems.Drivetrain; public class TurnDegrees extends Command { private final Drivetrain m_drive; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnTime.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnTime.java index 6cbd4f9e6d..15b9a34fd2 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnTime.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/commands/TurnTime.java @@ -4,8 +4,8 @@ package org.wpilib.examples.romireference.commands; -import org.wpilib.examples.romireference.subsystems.Drivetrain; import org.wpilib.command2.Command; +import org.wpilib.examples.romireference.subsystems.Drivetrain; /* * Creates a new TurnTime command. This command will turn your robot for a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/subsystems/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/subsystems/Drivetrain.java index 9c9ab2e708..34c6467eea 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/subsystems/Drivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/romireference/subsystems/Drivetrain.java @@ -4,12 +4,12 @@ package org.wpilib.examples.romireference.subsystems; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.command2.SubsystemBase; import org.wpilib.drive.DifferentialDrive; import org.wpilib.hardware.motor.Spark; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.romi.RomiGyro; -import org.wpilib.command2.SubsystemBase; +import org.wpilib.util.sendable.SendableRegistry; public class Drivetrain extends SubsystemBase { private static final double kCountsPerRevolution = 1440.0; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/Robot.java index d01db97773..30f94aaa51 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.selectcommand; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.TimedRobot; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java index b435655d91..fbff63c773 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/selectcommand/RobotContainer.java @@ -4,12 +4,12 @@ package org.wpilib.examples.selectcommand; -import org.wpilib.driverstation.GenericHID; -import org.wpilib.driverstation.XboxController; +import java.util.Map; import org.wpilib.command2.Command; import org.wpilib.command2.PrintCommand; import org.wpilib.command2.SelectCommand; -import java.util.Map; +import org.wpilib.driverstation.GenericHID; +import org.wpilib.driverstation.XboxController; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java index 152d4f7a68..04e2e434fc 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java @@ -4,6 +4,9 @@ package org.wpilib.examples.simpledifferentialdrivesimulation; +import org.wpilib.hardware.imu.OnboardIMU; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.geometry.Pose2d; @@ -15,14 +18,11 @@ import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.hardware.imu.OnboardIMU; -import org.wpilib.system.RobotController; -import org.wpilib.hardware.motor.PWMSparkMax; import org.wpilib.simulation.DifferentialDrivetrainSim; import org.wpilib.simulation.EncoderSim; import org.wpilib.smartdashboard.Field2d; import org.wpilib.smartdashboard.SmartDashboard; +import org.wpilib.system.RobotController; public class Drivetrain { // 3 meters per second. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Robot.java index 6c080700df..ac8b8e4801 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Robot.java @@ -4,6 +4,8 @@ package org.wpilib.examples.simpledifferentialdrivesimulation; +import java.util.List; +import org.wpilib.driverstation.XboxController; import org.wpilib.math.controller.LTVUnicycleController; import org.wpilib.math.filter.SlewRateLimiter; import org.wpilib.math.geometry.Pose2d; @@ -14,8 +16,6 @@ import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; import org.wpilib.opmode.TimedRobot; import org.wpilib.system.Timer; -import org.wpilib.driverstation.XboxController; -import java.util.List; public class Robot extends TimedRobot { private final XboxController m_controller = new XboxController(0); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/solenoid/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/solenoid/Robot.java index 0533f1edc3..41fccd1671 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/solenoid/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/solenoid/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.solenoid; +import org.wpilib.driverstation.Joystick; import org.wpilib.hardware.pneumatic.Compressor; import org.wpilib.hardware.pneumatic.DoubleSolenoid; -import org.wpilib.driverstation.Joystick; import org.wpilib.hardware.pneumatic.PneumaticsModuleType; import org.wpilib.hardware.pneumatic.Solenoid; import org.wpilib.opmode.TimedRobot; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/statespacearm/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/statespacearm/Robot.java index bb53bf9c56..25f3f2114e 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/statespacearm/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/statespacearm/Robot.java @@ -4,10 +4,12 @@ package org.wpilib.examples.statespacearm; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.driverstation.Joystick; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.LinearQuadraticRegulator; import org.wpilib.math.estimator.KalmanFilter; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; @@ -15,11 +17,9 @@ import org.wpilib.math.system.LinearSystemLoop; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.trajectory.TrapezoidProfile; +import org.wpilib.math.util.Nat; import org.wpilib.math.util.Units; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.driverstation.Joystick; import org.wpilib.opmode.TimedRobot; -import org.wpilib.hardware.motor.PWMSparkMax; /** * This is a sample program to demonstrate how to use a state-space controller to control an arm. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceelevator/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceelevator/Robot.java index 01319c46f3..f68f758a0f 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceelevator/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceelevator/Robot.java @@ -4,10 +4,12 @@ package org.wpilib.examples.statespaceelevator; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.driverstation.Joystick; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.LinearQuadraticRegulator; import org.wpilib.math.estimator.KalmanFilter; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; @@ -15,11 +17,9 @@ import org.wpilib.math.system.LinearSystemLoop; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.trajectory.TrapezoidProfile; +import org.wpilib.math.util.Nat; import org.wpilib.math.util.Units; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.driverstation.Joystick; import org.wpilib.opmode.TimedRobot; -import org.wpilib.hardware.motor.PWMSparkMax; /** * This is a sample program to demonstrate how to use a state-space controller to control an diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheel/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheel/Robot.java index 84314a4cf5..727fd7b6a6 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheel/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheel/Robot.java @@ -4,20 +4,20 @@ package org.wpilib.examples.statespaceflywheel; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.driverstation.Joystick; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.LinearQuadraticRegulator; import org.wpilib.math.estimator.KalmanFilter; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.system.LinearSystem; import org.wpilib.math.system.LinearSystemLoop; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; +import org.wpilib.math.util.Nat; import org.wpilib.math.util.Units; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.driverstation.Joystick; import org.wpilib.opmode.TimedRobot; -import org.wpilib.hardware.motor.PWMSparkMax; /** * This is a sample program to demonstrate how to use a state-space controller to control a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheelsysid/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheelsysid/Robot.java index ce42242af2..c97b6f881d 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheelsysid/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheelsysid/Robot.java @@ -4,19 +4,19 @@ package org.wpilib.examples.statespaceflywheelsysid; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.driverstation.Joystick; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.LinearQuadraticRegulator; import org.wpilib.math.estimator.KalmanFilter; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.system.LinearSystem; import org.wpilib.math.system.LinearSystemLoop; import org.wpilib.math.system.plant.LinearSystemId; +import org.wpilib.math.util.Nat; import org.wpilib.math.util.Units; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.driverstation.Joystick; import org.wpilib.opmode.TimedRobot; -import org.wpilib.hardware.motor.PWMSparkMax; /** * This is a sample program to demonstrate how to use a state-space controller to control a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java index 178e9277fe..3e75bf0bbd 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java @@ -4,12 +4,12 @@ package org.wpilib.examples.swervebot; +import org.wpilib.hardware.imu.OnboardIMU; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.SwerveDriveKinematics; import org.wpilib.math.kinematics.SwerveDriveOdometry; import org.wpilib.math.kinematics.SwerveModulePosition; -import org.wpilib.hardware.imu.OnboardIMU; /** Represents a swerve drive style drivetrain. */ public class Drivetrain { diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Robot.java index f61691ea80..6fe5f392b0 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Robot.java @@ -4,10 +4,10 @@ package org.wpilib.examples.swervebot; -import org.wpilib.math.util.MathUtil; -import org.wpilib.math.filter.SlewRateLimiter; -import org.wpilib.opmode.TimedRobot; import org.wpilib.driverstation.XboxController; +import org.wpilib.math.filter.SlewRateLimiter; +import org.wpilib.math.util.MathUtil; +import org.wpilib.opmode.TimedRobot; public class Robot extends TimedRobot { private final XboxController m_controller = new XboxController(0); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/SwerveModule.java index adb4b8d3b4..6483a5019e 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/SwerveModule.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/SwerveModule.java @@ -4,6 +4,8 @@ package org.wpilib.examples.swervebot; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; import org.wpilib.math.controller.ProfiledPIDController; import org.wpilib.math.controller.SimpleMotorFeedforward; @@ -11,8 +13,6 @@ import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.SwerveModulePosition; import org.wpilib.math.kinematics.SwerveModuleState; import org.wpilib.math.trajectory.TrapezoidProfile; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.hardware.motor.PWMSparkMax; public class SwerveModule { private static final double kWheelRadius = 0.0508; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java index 6e14211b65..c669f1b5be 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java @@ -4,15 +4,15 @@ package org.wpilib.examples.swervedriveposeestimator; -import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.hardware.imu.OnboardIMU; import org.wpilib.math.estimator.SwerveDrivePoseEstimator; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.SwerveDriveKinematics; import org.wpilib.math.kinematics.SwerveModulePosition; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.util.Units; -import org.wpilib.hardware.imu.OnboardIMU; import org.wpilib.system.Timer; /** Represents a swerve drive style drivetrain. */ diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/ExampleGlobalMeasurementSensor.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/ExampleGlobalMeasurementSensor.java index ce59718563..40bc0371ce 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/ExampleGlobalMeasurementSensor.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/ExampleGlobalMeasurementSensor.java @@ -4,10 +4,10 @@ package org.wpilib.examples.swervedriveposeestimator; -import org.wpilib.math.util.StateSpaceUtil; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.util.Units; /** This dummy class represents a global measurement sensor, such as a computer vision solution. */ diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Robot.java index f6d143a8b8..dd299e7719 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.swervedriveposeestimator; +import org.wpilib.driverstation.XboxController; import org.wpilib.math.filter.SlewRateLimiter; import org.wpilib.opmode.TimedRobot; -import org.wpilib.driverstation.XboxController; public class Robot extends TimedRobot { private final XboxController m_controller = new XboxController(0); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/SwerveModule.java index 8d6f5ba5fa..32c1decb71 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/SwerveModule.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/SwerveModule.java @@ -4,6 +4,8 @@ package org.wpilib.examples.swervedriveposeestimator; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.PIDController; import org.wpilib.math.controller.ProfiledPIDController; import org.wpilib.math.controller.SimpleMotorFeedforward; @@ -11,8 +13,6 @@ import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.SwerveModulePosition; import org.wpilib.math.kinematics.SwerveModuleState; import org.wpilib.math.trajectory.TrapezoidProfile; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.hardware.motor.PWMSparkMax; public class SwerveModule { private static final double kWheelRadius = 0.0508; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/Robot.java index 69d59824a7..8de2815fbe 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.sysidroutine; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.TimedRobot; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java index d35afeafd4..236399efaf 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/SysIdRoutineBot.java @@ -4,13 +4,13 @@ package org.wpilib.examples.sysidroutine; -import org.wpilib.examples.sysidroutine.Constants.OIConstants; -import org.wpilib.examples.sysidroutine.subsystems.Drive; -import org.wpilib.examples.sysidroutine.subsystems.Shooter; import org.wpilib.command2.Command; import org.wpilib.command2.button.CommandXboxController; import org.wpilib.command2.button.Trigger; import org.wpilib.command2.sysid.SysIdRoutine; +import org.wpilib.examples.sysidroutine.Constants.OIConstants; +import org.wpilib.examples.sysidroutine.subsystems.Drive; +import org.wpilib.examples.sysidroutine.subsystems.Shooter; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Drive.java b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Drive.java index c4786d02b4..40198d9c87 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Drive.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Drive.java @@ -8,15 +8,15 @@ import static org.wpilib.units.Units.Meters; import static org.wpilib.units.Units.MetersPerSecond; import static org.wpilib.units.Units.Volts; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.system.RobotController; -import org.wpilib.drive.DifferentialDrive; -import org.wpilib.examples.sysidroutine.Constants.DriveConstants; -import org.wpilib.hardware.motor.PWMSparkMax; +import java.util.function.DoubleSupplier; import org.wpilib.command2.Command; import org.wpilib.command2.SubsystemBase; import org.wpilib.command2.sysid.SysIdRoutine; -import java.util.function.DoubleSupplier; +import org.wpilib.drive.DifferentialDrive; +import org.wpilib.examples.sysidroutine.Constants.DriveConstants; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.system.RobotController; public class Drive extends SubsystemBase { // The motors on the left side of the drive. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Shooter.java b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Shooter.java index ec88719993..e272579be6 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Shooter.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/sysidroutine/subsystems/Shooter.java @@ -8,16 +8,16 @@ import static org.wpilib.units.Units.Rotations; import static org.wpilib.units.Units.RotationsPerSecond; import static org.wpilib.units.Units.Volts; -import org.wpilib.math.controller.PIDController; -import org.wpilib.math.controller.SimpleMotorFeedforward; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.system.RobotController; -import org.wpilib.examples.sysidroutine.Constants.ShooterConstants; -import org.wpilib.hardware.motor.PWMSparkMax; +import java.util.function.DoubleSupplier; import org.wpilib.command2.Command; import org.wpilib.command2.SubsystemBase; import org.wpilib.command2.sysid.SysIdRoutine; -import java.util.function.DoubleSupplier; +import org.wpilib.examples.sysidroutine.Constants.ShooterConstants; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.math.controller.PIDController; +import org.wpilib.math.controller.SimpleMotorFeedforward; +import org.wpilib.system.RobotController; public class Shooter extends SubsystemBase { // The motor on the shooter wheel . diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrive/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrive/Robot.java index aef19b363d..d9a872848d 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrive/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrive/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.tankdrive; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.drive.DifferentialDrive; +import org.wpilib.driverstation.Joystick; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.util.sendable.SendableRegistry; /** * This is a demo program showing the use of the DifferentialDrive class, specifically it contains diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Robot.java index 981e81d648..9ab7c79869 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/tankdrivexboxcontroller/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.examples.tankdrivexboxcontroller; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.opmode.TimedRobot; -import org.wpilib.driverstation.XboxController; import org.wpilib.drive.DifferentialDrive; +import org.wpilib.driverstation.XboxController; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.opmode.TimedRobot; +import org.wpilib.util.sendable.SendableRegistry; /** * This is a demo program showing the use of the DifferentialDrive class. Runs the motors with tank diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/Robot.java index 4a0da7087f..0696922bf2 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/Robot.java @@ -5,9 +5,9 @@ package org.wpilib.examples.unittest; import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; import org.wpilib.examples.unittest.Constants.IntakeConstants; import org.wpilib.examples.unittest.subsystems.Intake; +import org.wpilib.opmode.TimedRobot; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java b/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java index a6095cb58c..ed9a03386d 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java @@ -4,10 +4,10 @@ package org.wpilib.examples.unittest.subsystems; -import org.wpilib.hardware.pneumatic.DoubleSolenoid; -import org.wpilib.hardware.pneumatic.PneumaticsModuleType; import org.wpilib.examples.unittest.Constants.IntakeConstants; import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.pneumatic.DoubleSolenoid; +import org.wpilib.hardware.pneumatic.PneumaticsModuleType; public class Intake implements AutoCloseable { private final PWMSparkMax m_motor; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/Robot.java index bc133390b2..04651bc91c 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.examples.xrpreference; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.TimedRobot; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java index e1595b9d4b..e2796a2777 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/RobotContainer.java @@ -4,6 +4,11 @@ package org.wpilib.examples.xrpreference; +import org.wpilib.command2.Command; +import org.wpilib.command2.InstantCommand; +import org.wpilib.command2.PrintCommand; +import org.wpilib.command2.button.JoystickButton; +import org.wpilib.command2.button.Trigger; import org.wpilib.driverstation.GenericHID; import org.wpilib.driverstation.Joystick; import org.wpilib.driverstation.XboxController; @@ -15,11 +20,6 @@ import org.wpilib.examples.xrpreference.subsystems.Drivetrain; import org.wpilib.smartdashboard.SendableChooser; import org.wpilib.smartdashboard.SmartDashboard; import org.wpilib.xrp.XRPOnBoardIO; -import org.wpilib.command2.Command; -import org.wpilib.command2.InstantCommand; -import org.wpilib.command2.PrintCommand; -import org.wpilib.command2.button.JoystickButton; -import org.wpilib.command2.button.Trigger; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/ArcadeDrive.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/ArcadeDrive.java index 09fd616b87..0568d1d342 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/ArcadeDrive.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/ArcadeDrive.java @@ -4,9 +4,9 @@ package org.wpilib.examples.xrpreference.commands; -import org.wpilib.examples.xrpreference.subsystems.Drivetrain; -import org.wpilib.command2.Command; import java.util.function.Supplier; +import org.wpilib.command2.Command; +import org.wpilib.examples.xrpreference.subsystems.Drivetrain; public class ArcadeDrive extends Command { private final Drivetrain m_drivetrain; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/AutonomousDistance.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/AutonomousDistance.java index e1dd8bcb04..532d8a81c8 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/AutonomousDistance.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/AutonomousDistance.java @@ -4,8 +4,8 @@ package org.wpilib.examples.xrpreference.commands; -import org.wpilib.examples.xrpreference.subsystems.Drivetrain; import org.wpilib.command2.SequentialCommandGroup; +import org.wpilib.examples.xrpreference.subsystems.Drivetrain; public class AutonomousDistance extends SequentialCommandGroup { /** diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/AutonomousTime.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/AutonomousTime.java index 8b7dd0afe7..50cc7e4ea1 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/AutonomousTime.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/AutonomousTime.java @@ -4,8 +4,8 @@ package org.wpilib.examples.xrpreference.commands; -import org.wpilib.examples.xrpreference.subsystems.Drivetrain; import org.wpilib.command2.SequentialCommandGroup; +import org.wpilib.examples.xrpreference.subsystems.Drivetrain; public class AutonomousTime extends SequentialCommandGroup { /** diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/DriveDistance.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/DriveDistance.java index 3776dc55cd..f95e6d90b5 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/DriveDistance.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/DriveDistance.java @@ -4,8 +4,8 @@ package org.wpilib.examples.xrpreference.commands; -import org.wpilib.examples.xrpreference.subsystems.Drivetrain; import org.wpilib.command2.Command; +import org.wpilib.examples.xrpreference.subsystems.Drivetrain; public class DriveDistance extends Command { private final Drivetrain m_drive; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/DriveTime.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/DriveTime.java index c9312c00cd..b4f198d0df 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/DriveTime.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/DriveTime.java @@ -4,8 +4,8 @@ package org.wpilib.examples.xrpreference.commands; -import org.wpilib.examples.xrpreference.subsystems.Drivetrain; import org.wpilib.command2.Command; +import org.wpilib.examples.xrpreference.subsystems.Drivetrain; public class DriveTime extends Command { private final double m_duration; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/TurnDegrees.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/TurnDegrees.java index a592f7e0ae..42fd8fb071 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/TurnDegrees.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/TurnDegrees.java @@ -4,8 +4,8 @@ package org.wpilib.examples.xrpreference.commands; -import org.wpilib.examples.xrpreference.subsystems.Drivetrain; import org.wpilib.command2.Command; +import org.wpilib.examples.xrpreference.subsystems.Drivetrain; public class TurnDegrees extends Command { private final Drivetrain m_drive; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/TurnTime.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/TurnTime.java index 1f8e0d3956..180c1f39fa 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/TurnTime.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/commands/TurnTime.java @@ -4,8 +4,8 @@ package org.wpilib.examples.xrpreference.commands; -import org.wpilib.examples.xrpreference.subsystems.Drivetrain; import org.wpilib.command2.Command; +import org.wpilib.examples.xrpreference.subsystems.Drivetrain; /* * Creates a new TurnTime command. This command will turn your robot for a diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Arm.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Arm.java index 9722c59fc6..d4187706cb 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Arm.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Arm.java @@ -4,8 +4,8 @@ package org.wpilib.examples.xrpreference.subsystems; -import org.wpilib.xrp.XRPServo; import org.wpilib.command2.SubsystemBase; +import org.wpilib.xrp.XRPServo; public class Arm extends SubsystemBase { private final XRPServo m_armServo; diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Drivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Drivetrain.java index 9e4f8a66dd..a8ce71ccec 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Drivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/xrpreference/subsystems/Drivetrain.java @@ -4,12 +4,12 @@ package org.wpilib.examples.xrpreference.subsystems; -import org.wpilib.util.sendable.SendableRegistry; -import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.command2.SubsystemBase; import org.wpilib.drive.DifferentialDrive; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.util.sendable.SendableRegistry; import org.wpilib.xrp.XRPGyro; import org.wpilib.xrp.XRPMotor; -import org.wpilib.command2.SubsystemBase; public class Drivetrain extends SubsystemBase { private static final double kGearRatio = diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java index 632b23a2fa..ee6858f242 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.snippets.accelerometerfilter; -import org.wpilib.math.filter.LinearFilter; import org.wpilib.hardware.imu.OnboardIMU; import org.wpilib.hardware.imu.OnboardIMU.MountOrientation; +import org.wpilib.math.filter.LinearFilter; import org.wpilib.opmode.TimedRobot; import org.wpilib.smartdashboard.SmartDashboard; diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderdrive/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderdrive/Robot.java index 9dfdc69de6..b2d9bbf325 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderdrive/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderdrive/Robot.java @@ -4,10 +4,10 @@ package org.wpilib.snippets.encoderdrive; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.opmode.TimedRobot; import org.wpilib.drive.DifferentialDrive; import org.wpilib.hardware.motor.Spark; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.opmode.TimedRobot; /** * Encoder drive to distance snippets for frc-docs. diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderhoming/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderhoming/Robot.java index eb9d149177..ad2a0eb3ab 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderhoming/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/encoderhoming/Robot.java @@ -5,9 +5,9 @@ package org.wpilib.snippets.encoderhoming; import org.wpilib.hardware.discrete.DigitalInput; +import org.wpilib.hardware.motor.Spark; import org.wpilib.hardware.rotation.Encoder; import org.wpilib.opmode.TimedRobot; -import org.wpilib.hardware.motor.Spark; /** * Encoder mechanism homing snippets for frc-docs. diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/limitswitch/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/limitswitch/Robot.java index 7d7811e504..e6d36ab14d 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/snippets/limitswitch/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/limitswitch/Robot.java @@ -4,10 +4,10 @@ package org.wpilib.snippets.limitswitch; -import org.wpilib.hardware.discrete.DigitalInput; import org.wpilib.driverstation.Joystick; -import org.wpilib.opmode.TimedRobot; +import org.wpilib.hardware.discrete.DigitalInput; import org.wpilib.hardware.motor.PWMVictorSPX; +import org.wpilib.opmode.TimedRobot; /** * Limit Switch snippets for frc-docs. diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/profiledpidfeedforward/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/profiledpidfeedforward/Robot.java index a94ee9022f..0d05ac0598 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/snippets/profiledpidfeedforward/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/profiledpidfeedforward/Robot.java @@ -4,12 +4,12 @@ package org.wpilib.snippets.profiledpidfeedforward; +import org.wpilib.hardware.motor.PWMSparkMax; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.math.controller.ProfiledPIDController; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.trajectory.TrapezoidProfile; -import org.wpilib.hardware.rotation.Encoder; import org.wpilib.opmode.TimedRobot; -import org.wpilib.hardware.motor.PWMSparkMax; /** * ProfiledPIDController with feedforward snippets for frc-docs. diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/Robot.java index 1c6c50eabe..1683b3d358 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.templates.commandbased; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.TimedRobot; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/RobotContainer.java index cc36306ecf..e7222af031 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/RobotContainer.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/RobotContainer.java @@ -4,13 +4,13 @@ package org.wpilib.templates.commandbased; +import org.wpilib.command2.Command; +import org.wpilib.command2.button.CommandXboxController; +import org.wpilib.command2.button.Trigger; import org.wpilib.templates.commandbased.Constants.OperatorConstants; import org.wpilib.templates.commandbased.commands.Autos; import org.wpilib.templates.commandbased.commands.ExampleCommand; import org.wpilib.templates.commandbased.subsystems.ExampleSubsystem; -import org.wpilib.command2.Command; -import org.wpilib.command2.button.CommandXboxController; -import org.wpilib.command2.button.Trigger; /** * This class is where the bulk of the robot should be declared. Since Command-based is a @@ -35,11 +35,10 @@ public class RobotContainer { /** * Use this method to define your trigger->command mappings. Triggers can be created via the * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary - * predicate, or via the named factories in {@link - * org.wpilib.command2.button.CommandGenericHID}'s subclasses for {@link - * CommandXboxController Xbox}/{@link org.wpilib.command2.button.CommandPS4Controller - * PS4} controllers or {@link org.wpilib.command2.button.CommandJoystick Flight - * joysticks}. + * predicate, or via the named factories in {@link org.wpilib.command2.button.CommandGenericHID}'s + * subclasses for {@link CommandXboxController Xbox}/{@link + * org.wpilib.command2.button.CommandPS4Controller PS4} controllers or {@link + * org.wpilib.command2.button.CommandJoystick Flight joysticks}. */ private void configureBindings() { // Schedule `ExampleCommand` when `exampleCondition` changes to `true` diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/commands/Autos.java b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/commands/Autos.java index 26125b002b..a2a9784044 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/commands/Autos.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/commands/Autos.java @@ -4,9 +4,9 @@ package org.wpilib.templates.commandbased.commands; -import org.wpilib.templates.commandbased.subsystems.ExampleSubsystem; import org.wpilib.command2.Command; import org.wpilib.command2.Commands; +import org.wpilib.templates.commandbased.subsystems.ExampleSubsystem; public final class Autos { /** Example static factory for an autonomous command. */ diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/commands/ExampleCommand.java b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/commands/ExampleCommand.java index 0f25557aa6..32302c2137 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/commands/ExampleCommand.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbased/commands/ExampleCommand.java @@ -4,8 +4,8 @@ package org.wpilib.templates.commandbased.commands; -import org.wpilib.templates.commandbased.subsystems.ExampleSubsystem; import org.wpilib.command2.Command; +import org.wpilib.templates.commandbased.subsystems.ExampleSubsystem; /** An example command that uses an example subsystem. */ public class ExampleCommand extends Command { diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbasedskeleton/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbasedskeleton/Robot.java index 14ca304894..064d2e0e6c 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/commandbasedskeleton/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/commandbasedskeleton/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.templates.commandbasedskeleton; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.TimedRobot; public class Robot extends TimedRobot { private Command m_autonomousCommand; diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/educational/EducationalRobot.java b/wpilibjExamples/src/main/java/org/wpilib/templates/educational/EducationalRobot.java index 95aa9e30fd..bd6492451e 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/educational/EducationalRobot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/educational/EducationalRobot.java @@ -4,11 +4,11 @@ package org.wpilib.templates.educational; -import org.wpilib.hardware.hal.DriverStationJNI; -import org.wpilib.util.WPIUtilJNI; import org.wpilib.driverstation.DriverStation; -import org.wpilib.opmode.RobotBase; +import org.wpilib.hardware.hal.DriverStationJNI; import org.wpilib.internal.DriverStationModeThread; +import org.wpilib.opmode.RobotBase; +import org.wpilib.util.WPIUtilJNI; /** Educational robot base class. */ public class EducationalRobot extends RobotBase { diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/robotbaseskeleton/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/templates/robotbaseskeleton/Robot.java index 50f37157b7..c861d8cb2c 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/robotbaseskeleton/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/robotbaseskeleton/Robot.java @@ -4,11 +4,11 @@ package org.wpilib.templates.robotbaseskeleton; -import org.wpilib.hardware.hal.DriverStationJNI; -import org.wpilib.util.WPIUtilJNI; import org.wpilib.driverstation.DriverStation; -import org.wpilib.opmode.RobotBase; +import org.wpilib.hardware.hal.DriverStationJNI; import org.wpilib.internal.DriverStationModeThread; +import org.wpilib.opmode.RobotBase; +import org.wpilib.util.WPIUtilJNI; /** * This class is run automatically. If you change the name of this class or the package after diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/Robot.java index f042806525..3c716a2bd7 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.templates.romicommandbased; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.TimedRobot; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/RobotContainer.java index ceaeb39a74..8cd9285f60 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/RobotContainer.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/RobotContainer.java @@ -4,10 +4,10 @@ package org.wpilib.templates.romicommandbased; +import org.wpilib.command2.Command; import org.wpilib.driverstation.XboxController; import org.wpilib.templates.romicommandbased.commands.ExampleCommand; import org.wpilib.templates.romicommandbased.subsystems.RomiDrivetrain; -import org.wpilib.command2.Command; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/commands/ExampleCommand.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/commands/ExampleCommand.java index 01832951b2..ab89f85576 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/commands/ExampleCommand.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/commands/ExampleCommand.java @@ -4,8 +4,8 @@ package org.wpilib.templates.romicommandbased.commands; -import org.wpilib.templates.romicommandbased.subsystems.RomiDrivetrain; import org.wpilib.command2.Command; +import org.wpilib.templates.romicommandbased.subsystems.RomiDrivetrain; /** An example command that uses an example subsystem. */ public class ExampleCommand extends Command { diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/subsystems/RomiDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/subsystems/RomiDrivetrain.java index 69ab60b888..b887ab8dbf 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/subsystems/RomiDrivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romicommandbased/subsystems/RomiDrivetrain.java @@ -4,10 +4,10 @@ package org.wpilib.templates.romicommandbased.subsystems; -import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.command2.SubsystemBase; import org.wpilib.drive.DifferentialDrive; import org.wpilib.hardware.motor.Spark; -import org.wpilib.command2.SubsystemBase; +import org.wpilib.hardware.rotation.Encoder; public class RomiDrivetrain extends SubsystemBase { private static final double kCountsPerRevolution = 1440.0; diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/EducationalRobot.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/EducationalRobot.java index b4333987ce..a28de03fa0 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/EducationalRobot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/EducationalRobot.java @@ -4,11 +4,11 @@ package org.wpilib.templates.romieducational; -import org.wpilib.hardware.hal.DriverStationJNI; -import org.wpilib.util.WPIUtilJNI; import org.wpilib.driverstation.DriverStation; -import org.wpilib.opmode.RobotBase; +import org.wpilib.hardware.hal.DriverStationJNI; import org.wpilib.internal.DriverStationModeThread; +import org.wpilib.opmode.RobotBase; +import org.wpilib.util.WPIUtilJNI; /** Educational robot base class. */ public class EducationalRobot extends RobotBase { diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/RomiDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/RomiDrivetrain.java index ca59573988..87096daf22 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/RomiDrivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romieducational/RomiDrivetrain.java @@ -4,9 +4,9 @@ package org.wpilib.templates.romieducational; -import org.wpilib.hardware.rotation.Encoder; import org.wpilib.drive.DifferentialDrive; import org.wpilib.hardware.motor.Spark; +import org.wpilib.hardware.rotation.Encoder; public class RomiDrivetrain { private static final double kCountsPerRevolution = 1440.0; diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/romitimed/RomiDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/romitimed/RomiDrivetrain.java index ee293e0e92..078014b023 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/romitimed/RomiDrivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/romitimed/RomiDrivetrain.java @@ -4,9 +4,9 @@ package org.wpilib.templates.romitimed; -import org.wpilib.hardware.rotation.Encoder; import org.wpilib.drive.DifferentialDrive; import org.wpilib.hardware.motor.Spark; +import org.wpilib.hardware.rotation.Encoder; public class RomiDrivetrain { private static final double kCountsPerRevolution = 1440.0; diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/Robot.java index 09a93f81d2..b9b2485e9b 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/Robot.java @@ -4,9 +4,9 @@ package org.wpilib.templates.xrpcommandbased; -import org.wpilib.opmode.TimedRobot; import org.wpilib.command2.Command; import org.wpilib.command2.CommandScheduler; +import org.wpilib.opmode.TimedRobot; /** * The methods in this class are called automatically corresponding to each mode, as described in diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/RobotContainer.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/RobotContainer.java index ed49b8cf44..14fdf19ff4 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/RobotContainer.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/RobotContainer.java @@ -4,10 +4,10 @@ package org.wpilib.templates.xrpcommandbased; +import org.wpilib.command2.Command; import org.wpilib.driverstation.XboxController; import org.wpilib.templates.xrpcommandbased.commands.ExampleCommand; import org.wpilib.templates.xrpcommandbased.subsystems.XRPDrivetrain; -import org.wpilib.command2.Command; /** * This class is where the bulk of the robot should be declared. Since Command-based is a diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/commands/ExampleCommand.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/commands/ExampleCommand.java index b1b1eac02e..3748415b01 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/commands/ExampleCommand.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/commands/ExampleCommand.java @@ -4,8 +4,8 @@ package org.wpilib.templates.xrpcommandbased.commands; -import org.wpilib.templates.xrpcommandbased.subsystems.XRPDrivetrain; import org.wpilib.command2.Command; +import org.wpilib.templates.xrpcommandbased.subsystems.XRPDrivetrain; /** An example command that uses an example subsystem. */ public class ExampleCommand extends Command { diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/subsystems/XRPDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/subsystems/XRPDrivetrain.java index 5a9f15aa5b..f6b72541e3 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/subsystems/XRPDrivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpcommandbased/subsystems/XRPDrivetrain.java @@ -4,10 +4,10 @@ package org.wpilib.templates.xrpcommandbased.subsystems; -import org.wpilib.hardware.rotation.Encoder; -import org.wpilib.drive.DifferentialDrive; -import org.wpilib.xrp.XRPMotor; import org.wpilib.command2.SubsystemBase; +import org.wpilib.drive.DifferentialDrive; +import org.wpilib.hardware.rotation.Encoder; +import org.wpilib.xrp.XRPMotor; public class XRPDrivetrain extends SubsystemBase { private static final double kGearRatio = diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/EducationalRobot.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/EducationalRobot.java index f9c42d52d9..abf8b77cdc 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/EducationalRobot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/EducationalRobot.java @@ -4,11 +4,11 @@ package org.wpilib.templates.xrpeducational; -import org.wpilib.hardware.hal.DriverStationJNI; -import org.wpilib.util.WPIUtilJNI; import org.wpilib.driverstation.DriverStation; -import org.wpilib.opmode.RobotBase; +import org.wpilib.hardware.hal.DriverStationJNI; import org.wpilib.internal.DriverStationModeThread; +import org.wpilib.opmode.RobotBase; +import org.wpilib.util.WPIUtilJNI; /** Educational robot base class. */ public class EducationalRobot extends RobotBase { diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/XRPDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/XRPDrivetrain.java index f47ec06669..a5ab45f9ec 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/XRPDrivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrpeducational/XRPDrivetrain.java @@ -4,8 +4,8 @@ package org.wpilib.templates.xrpeducational; -import org.wpilib.hardware.rotation.Encoder; import org.wpilib.drive.DifferentialDrive; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.xrp.XRPMotor; public class XRPDrivetrain { diff --git a/wpilibjExamples/src/main/java/org/wpilib/templates/xrptimed/XRPDrivetrain.java b/wpilibjExamples/src/main/java/org/wpilib/templates/xrptimed/XRPDrivetrain.java index 68cd4f2179..1eb173119a 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/templates/xrptimed/XRPDrivetrain.java +++ b/wpilibjExamples/src/main/java/org/wpilib/templates/xrptimed/XRPDrivetrain.java @@ -4,8 +4,8 @@ package org.wpilib.templates.xrptimed; -import org.wpilib.hardware.rotation.Encoder; import org.wpilib.drive.DifferentialDrive; +import org.wpilib.hardware.rotation.Encoder; import org.wpilib.xrp.XRPMotor; public class XRPDrivetrain { diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java index 54bcdaf9ec..f2461a2cd0 100644 --- a/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java +++ b/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java @@ -7,20 +7,20 @@ package org.wpilib.examples.armsimulation; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.AfterEach; +import org.junit.jupiter.api.BeforeEach; +import org.junit.jupiter.api.parallel.ResourceLock; +import org.junit.jupiter.params.ParameterizedTest; +import org.junit.jupiter.params.provider.ValueSource; import org.wpilib.hardware.hal.HAL; import org.wpilib.math.util.Units; -import org.wpilib.util.Preferences; import org.wpilib.simulation.DriverStationSim; import org.wpilib.simulation.EncoderSim; import org.wpilib.simulation.JoystickSim; import org.wpilib.simulation.PWMMotorControllerSim; import org.wpilib.simulation.RoboRioSim; import org.wpilib.simulation.SimHooks; -import org.junit.jupiter.api.AfterEach; -import org.junit.jupiter.api.BeforeEach; -import org.junit.jupiter.api.parallel.ResourceLock; -import org.junit.jupiter.params.ParameterizedTest; -import org.junit.jupiter.params.provider.ValueSource; +import org.wpilib.util.Preferences; @ResourceLock("timing") class ArmSimulationTest { diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java index 8a5e1af4ce..1d1dab3966 100644 --- a/wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java +++ b/wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java @@ -8,17 +8,17 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.AllianceStationID; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.simulation.DIOSim; -import org.wpilib.simulation.DriverStationSim; -import org.wpilib.simulation.SimHooks; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.parallel.ResourceLock; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.EnumSource; import org.junit.jupiter.params.provider.ValueSource; +import org.wpilib.hardware.hal.AllianceStationID; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.DIOSim; +import org.wpilib.simulation.DriverStationSim; +import org.wpilib.simulation.SimHooks; @ResourceLock("timing") class DigitalCommunicationTest { diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java index eee7f1d1e0..ea3be1f8c7 100644 --- a/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java +++ b/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java @@ -7,6 +7,10 @@ package org.wpilib.examples.elevatorsimulation; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.AfterEach; +import org.junit.jupiter.api.BeforeEach; +import org.junit.jupiter.api.Test; +import org.junit.jupiter.api.parallel.ResourceLock; import org.wpilib.hardware.hal.HAL; import org.wpilib.simulation.DriverStationSim; import org.wpilib.simulation.EncoderSim; @@ -14,10 +18,6 @@ import org.wpilib.simulation.JoystickSim; import org.wpilib.simulation.PWMMotorControllerSim; import org.wpilib.simulation.RoboRioSim; import org.wpilib.simulation.SimHooks; -import org.junit.jupiter.api.AfterEach; -import org.junit.jupiter.api.BeforeEach; -import org.junit.jupiter.api.Test; -import org.junit.jupiter.api.parallel.ResourceLock; @ResourceLock("timing") class ElevatorSimulationTest { diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java index e4733758ca..457471ecff 100644 --- a/wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java +++ b/wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java @@ -8,13 +8,6 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.hardware.hal.AllianceStationID; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.driverstation.DriverStation; -import org.wpilib.simulation.CallbackStore; -import org.wpilib.simulation.DriverStationSim; -import org.wpilib.simulation.I2CSim; -import org.wpilib.simulation.SimHooks; import java.time.Duration; import java.util.concurrent.CompletableFuture; import org.junit.jupiter.api.AfterEach; @@ -23,6 +16,13 @@ import org.junit.jupiter.api.parallel.ResourceLock; import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.EnumSource; import org.junit.jupiter.params.provider.ValueSource; +import org.wpilib.driverstation.DriverStation; +import org.wpilib.hardware.hal.AllianceStationID; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.simulation.CallbackStore; +import org.wpilib.simulation.DriverStationSim; +import org.wpilib.simulation.I2CSim; +import org.wpilib.simulation.SimHooks; @ResourceLock("timing") class I2CCommunicationTest { diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java index 2263bdaf80..150c38365c 100644 --- a/wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java +++ b/wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java @@ -7,21 +7,21 @@ package org.wpilib.examples.potentiometerpid; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.AfterEach; +import org.junit.jupiter.api.BeforeEach; +import org.junit.jupiter.api.Test; +import org.junit.jupiter.api.parallel.ResourceLock; import org.wpilib.hardware.hal.HAL; import org.wpilib.hardware.hal.HAL.SimPeriodicBeforeCallback; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.util.Units; -import org.wpilib.system.RobotController; import org.wpilib.simulation.AnalogInputSim; import org.wpilib.simulation.DriverStationSim; import org.wpilib.simulation.ElevatorSim; import org.wpilib.simulation.JoystickSim; import org.wpilib.simulation.PWMMotorControllerSim; import org.wpilib.simulation.SimHooks; -import org.junit.jupiter.api.AfterEach; -import org.junit.jupiter.api.BeforeEach; -import org.junit.jupiter.api.Test; -import org.junit.jupiter.api.parallel.ResourceLock; +import org.wpilib.system.RobotController; @ResourceLock("timing") class PotentiometerPIDTest { diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java index c24a955277..b402b77bee 100644 --- a/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java +++ b/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java @@ -6,15 +6,15 @@ package org.wpilib.examples.unittest.subsystems; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.hardware.hal.HAL; -import org.wpilib.hardware.pneumatic.DoubleSolenoid; -import org.wpilib.hardware.pneumatic.PneumaticsModuleType; -import org.wpilib.examples.unittest.Constants.IntakeConstants; -import org.wpilib.simulation.DoubleSolenoidSim; -import org.wpilib.simulation.PWMMotorControllerSim; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.examples.unittest.Constants.IntakeConstants; +import org.wpilib.hardware.hal.HAL; +import org.wpilib.hardware.pneumatic.DoubleSolenoid; +import org.wpilib.hardware.pneumatic.PneumaticsModuleType; +import org.wpilib.simulation.DoubleSolenoidSim; +import org.wpilib.simulation.PWMMotorControllerSim; class IntakeTest { static final double DELTA = 1e-2; // acceptable deviation range diff --git a/wpimath/src/main/java/org/wpilib/math/controller/ControlAffinePlantInversionFeedforward.java b/wpimath/src/main/java/org/wpilib/math/controller/ControlAffinePlantInversionFeedforward.java index f9d325e2fe..91eddbd36e 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/ControlAffinePlantInversionFeedforward.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/ControlAffinePlantInversionFeedforward.java @@ -4,13 +4,13 @@ package org.wpilib.math.controller; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; -import org.wpilib.math.numbers.N1; -import org.wpilib.math.system.NumericalJacobian; import java.util.function.BiFunction; import java.util.function.Function; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.system.NumericalJacobian; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; /** * Constructs a control-affine plant inversion model-based feedforward from given model dynamics. diff --git a/wpimath/src/main/java/org/wpilib/math/controller/DifferentialDriveAccelerationLimiter.java b/wpimath/src/main/java/org/wpilib/math/controller/DifferentialDriveAccelerationLimiter.java index 7f3f623be5..59c9454de8 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/DifferentialDriveAccelerationLimiter.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/DifferentialDriveAccelerationLimiter.java @@ -6,11 +6,11 @@ package org.wpilib.math.controller; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; +import org.wpilib.math.util.Nat; /** * Filters the provided voltages to limit a differential drive's linear and angular acceleration. diff --git a/wpimath/src/main/java/org/wpilib/math/controller/DifferentialDriveFeedforward.java b/wpimath/src/main/java/org/wpilib/math/controller/DifferentialDriveFeedforward.java index 466b746686..e5dfeeaf07 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/DifferentialDriveFeedforward.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/DifferentialDriveFeedforward.java @@ -4,9 +4,9 @@ package org.wpilib.math.controller; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.controller.proto.DifferentialDriveFeedforwardProto; import org.wpilib.math.controller.struct.DifferentialDriveFeedforwardStruct; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; import org.wpilib.math.system.plant.LinearSystemId; diff --git a/wpimath/src/main/java/org/wpilib/math/controller/ImplicitModelFollower.java b/wpimath/src/main/java/org/wpilib/math/controller/ImplicitModelFollower.java index 5213e8b883..5aa042f066 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/ImplicitModelFollower.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/ImplicitModelFollower.java @@ -4,11 +4,11 @@ package org.wpilib.math.controller; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Num; import org.wpilib.math.numbers.N1; import org.wpilib.math.system.LinearSystem; -import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.util.Num; /** * Contains the controller coefficients and logic for an implicit model follower. diff --git a/wpimath/src/main/java/org/wpilib/math/controller/LTVDifferentialDriveController.java b/wpimath/src/main/java/org/wpilib/math/controller/LTVDifferentialDriveController.java index a0d28a2f0a..3fc4259612 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/LTVDifferentialDriveController.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/LTVDifferentialDriveController.java @@ -4,21 +4,21 @@ package org.wpilib.math.controller; +import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.linalg.DARE; import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.util.MathUtil; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.linalg.Vector; -import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N5; import org.wpilib.math.system.Discretization; import org.wpilib.math.system.LinearSystem; import org.wpilib.math.trajectory.Trajectory; +import org.wpilib.math.util.MathUtil; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.StateSpaceUtil; /** * The linear time-varying differential drive controller has a similar form to the LQR, but the diff --git a/wpimath/src/main/java/org/wpilib/math/controller/LTVUnicycleController.java b/wpimath/src/main/java/org/wpilib/math/controller/LTVUnicycleController.java index 90f9c934eb..2e95e58eb0 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/LTVUnicycleController.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/LTVUnicycleController.java @@ -4,19 +4,19 @@ package org.wpilib.math.controller; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.linalg.DARE; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.linalg.Vector; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; import org.wpilib.math.system.Discretization; import org.wpilib.math.trajectory.Trajectory; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.StateSpaceUtil; /** * The linear time-varying unicycle controller has a similar form to the LQR, but the model used to diff --git a/wpimath/src/main/java/org/wpilib/math/controller/LinearPlantInversionFeedforward.java b/wpimath/src/main/java/org/wpilib/math/controller/LinearPlantInversionFeedforward.java index b87f0d3dc6..b267cbd949 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/LinearPlantInversionFeedforward.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/LinearPlantInversionFeedforward.java @@ -4,12 +4,12 @@ package org.wpilib.math.controller; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Num; import org.wpilib.math.numbers.N1; import org.wpilib.math.system.Discretization; import org.wpilib.math.system.LinearSystem; -import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.util.Num; /** * Constructs a plant inversion model-based feedforward from a {@link LinearSystem}. diff --git a/wpimath/src/main/java/org/wpilib/math/controller/LinearQuadraticRegulator.java b/wpimath/src/main/java/org/wpilib/math/controller/LinearQuadraticRegulator.java index c50692b9e0..3143b2eefc 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/LinearQuadraticRegulator.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/LinearQuadraticRegulator.java @@ -4,15 +4,15 @@ package org.wpilib.math.controller; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.DARE; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Num; -import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.linalg.Vector; import org.wpilib.math.numbers.N1; import org.wpilib.math.system.Discretization; import org.wpilib.math.system.LinearSystem; -import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.util.Num; +import org.wpilib.math.util.StateSpaceUtil; /** * Contains the controller coefficients and logic for a linear-quadratic regulator (LQR). LQRs use diff --git a/wpimath/src/main/java/org/wpilib/math/controller/ProfiledPIDController.java b/wpimath/src/main/java/org/wpilib/math/controller/ProfiledPIDController.java index 21e7a13472..0c930634aa 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/ProfiledPIDController.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/ProfiledPIDController.java @@ -4,9 +4,9 @@ package org.wpilib.math.controller; +import org.wpilib.math.trajectory.TrapezoidProfile; import org.wpilib.math.util.MathSharedStore; import org.wpilib.math.util.MathUtil; -import org.wpilib.math.trajectory.TrapezoidProfile; import org.wpilib.util.sendable.Sendable; import org.wpilib.util.sendable.SendableBuilder; import org.wpilib.util.sendable.SendableRegistry; diff --git a/wpimath/src/main/java/org/wpilib/math/controller/struct/ArmFeedforwardStruct.java b/wpimath/src/main/java/org/wpilib/math/controller/struct/ArmFeedforwardStruct.java index 9e47293b33..fcab7f1311 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/struct/ArmFeedforwardStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/struct/ArmFeedforwardStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.controller.struct; +import java.nio.ByteBuffer; import org.wpilib.math.controller.ArmFeedforward; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class ArmFeedforwardStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStruct.java b/wpimath/src/main/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStruct.java index 5780a65695..7c02c5ff6f 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.controller.struct; +import java.nio.ByteBuffer; import org.wpilib.math.controller.DifferentialDriveFeedforward; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public final class DifferentialDriveFeedforwardStruct implements Struct { diff --git a/wpimath/src/main/java/org/wpilib/math/controller/struct/DifferentialDriveWheelVoltagesStruct.java b/wpimath/src/main/java/org/wpilib/math/controller/struct/DifferentialDriveWheelVoltagesStruct.java index 147ba123da..8bd3119df7 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/struct/DifferentialDriveWheelVoltagesStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/struct/DifferentialDriveWheelVoltagesStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.controller.struct; +import java.nio.ByteBuffer; import org.wpilib.math.controller.DifferentialDriveWheelVoltages; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class DifferentialDriveWheelVoltagesStruct implements Struct { diff --git a/wpimath/src/main/java/org/wpilib/math/controller/struct/ElevatorFeedforwardStruct.java b/wpimath/src/main/java/org/wpilib/math/controller/struct/ElevatorFeedforwardStruct.java index a8546dd7db..5b69022bde 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/struct/ElevatorFeedforwardStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/struct/ElevatorFeedforwardStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.controller.struct; +import java.nio.ByteBuffer; import org.wpilib.math.controller.ElevatorFeedforward; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class ElevatorFeedforwardStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/controller/struct/SimpleMotorFeedforwardStruct.java b/wpimath/src/main/java/org/wpilib/math/controller/struct/SimpleMotorFeedforwardStruct.java index 8eab4c2f37..74848cdac7 100644 --- a/wpimath/src/main/java/org/wpilib/math/controller/struct/SimpleMotorFeedforwardStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/controller/struct/SimpleMotorFeedforwardStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.controller.struct; +import java.nio.ByteBuffer; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public final class SimpleMotorFeedforwardStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/AngleStatistics.java b/wpimath/src/main/java/org/wpilib/math/estimator/AngleStatistics.java index f77cfc06d4..9b660f1aae 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/AngleStatistics.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/AngleStatistics.java @@ -4,12 +4,12 @@ package org.wpilib.math.estimator; -import org.wpilib.math.util.MathUtil; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Num; -import org.wpilib.math.numbers.N1; import java.util.function.BiFunction; import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.util.MathUtil; +import org.wpilib.math.util.Num; /** Angle statistics functions. */ public final class AngleStatistics { diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator.java b/wpimath/src/main/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator.java index d5ef5db39f..6ebaa95616 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator.java @@ -4,13 +4,13 @@ package org.wpilib.math.estimator; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.DifferentialDriveKinematics; import org.wpilib.math.kinematics.DifferentialDriveOdometry; import org.wpilib.math.kinematics.DifferentialDriveWheelPositions; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N3; diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator3d.java b/wpimath/src/main/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator3d.java index ef613771c4..bbbf25576b 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator3d.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator3d.java @@ -4,8 +4,6 @@ package org.wpilib.math.estimator; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; @@ -15,6 +13,8 @@ import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.kinematics.DifferentialDriveKinematics; import org.wpilib.math.kinematics.DifferentialDriveOdometry3d; import org.wpilib.math.kinematics.DifferentialDriveWheelPositions; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N4; diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/org/wpilib/math/estimator/ExtendedKalmanFilter.java index ab1523018d..0286551035 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/ExtendedKalmanFilter.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/ExtendedKalmanFilter.java @@ -4,16 +4,16 @@ package org.wpilib.math.estimator; +import java.util.function.BiFunction; import org.wpilib.math.linalg.DARE; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; -import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.numbers.N1; import org.wpilib.math.system.Discretization; import org.wpilib.math.system.NumericalIntegration; import org.wpilib.math.system.NumericalJacobian; -import java.util.function.BiFunction; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; +import org.wpilib.math.util.StateSpaceUtil; /** * A Kalman filter combines predictions from a model and measurements to give an estimate of the diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/KalmanFilter.java b/wpimath/src/main/java/org/wpilib/math/estimator/KalmanFilter.java index 237ac758a7..7440e0c221 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/KalmanFilter.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/KalmanFilter.java @@ -6,12 +6,12 @@ package org.wpilib.math.estimator; import org.wpilib.math.linalg.DARE; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; -import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.numbers.N1; import org.wpilib.math.system.Discretization; import org.wpilib.math.system.LinearSystem; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; +import org.wpilib.math.util.StateSpaceUtil; /** * A Kalman filter combines predictions from a model and measurements to give an estimate of the diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/KalmanFilterLatencyCompensator.java b/wpimath/src/main/java/org/wpilib/math/estimator/KalmanFilterLatencyCompensator.java index 69e095d2d7..da67243046 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/KalmanFilterLatencyCompensator.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/KalmanFilterLatencyCompensator.java @@ -4,14 +4,14 @@ package org.wpilib.math.estimator; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; -import org.wpilib.math.numbers.N1; import java.util.ArrayList; import java.util.List; import java.util.Map; import java.util.function.BiConsumer; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; /** * This class incorporates time-delayed measurements into a Kalman filter's state estimate. diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/KalmanTypeFilter.java b/wpimath/src/main/java/org/wpilib/math/estimator/KalmanTypeFilter.java index de0a14b76d..83ef5e6b22 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/KalmanTypeFilter.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/KalmanTypeFilter.java @@ -5,8 +5,8 @@ package org.wpilib.math.estimator; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Num; import org.wpilib.math.numbers.N1; +import org.wpilib.math.util.Num; /** * Interface for Kalman filters for use with KalmanFilterLatencyCompensator. diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator.java index f4849cb8d9..5116f22096 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator.java @@ -4,13 +4,13 @@ package org.wpilib.math.estimator; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.MecanumDriveKinematics; import org.wpilib.math.kinematics.MecanumDriveOdometry; import org.wpilib.math.kinematics.MecanumDriveWheelPositions; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N3; diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator3d.java b/wpimath/src/main/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator3d.java index 98f11a40c3..5cf65e8444 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator3d.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator3d.java @@ -4,8 +4,6 @@ package org.wpilib.math.estimator; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; @@ -15,6 +13,8 @@ import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.kinematics.MecanumDriveKinematics; import org.wpilib.math.kinematics.MecanumDriveOdometry3d; import org.wpilib.math.kinematics.MecanumDriveWheelPositions; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N4; diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/MerweScaledSigmaPoints.java b/wpimath/src/main/java/org/wpilib/math/estimator/MerweScaledSigmaPoints.java index 6e5d41af90..8998342118 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/MerweScaledSigmaPoints.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/MerweScaledSigmaPoints.java @@ -4,11 +4,11 @@ package org.wpilib.math.estimator; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; import org.wpilib.math.util.Nat; import org.wpilib.math.util.Num; -import org.wpilib.math.numbers.N1; -import org.ejml.simple.SimpleMatrix; /** * Generates sigma points and weights according to Van der Merwe's 2004 dissertation[1] for the diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/MerweUKF.java b/wpimath/src/main/java/org/wpilib/math/estimator/MerweUKF.java index c70c3fbffc..5142dfeb51 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/MerweUKF.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/MerweUKF.java @@ -4,11 +4,11 @@ package org.wpilib.math.estimator; +import java.util.function.BiFunction; import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; import org.wpilib.math.util.Nat; import org.wpilib.math.util.Num; -import org.wpilib.math.numbers.N1; -import java.util.function.BiFunction; /** * An Unscented Kalman Filter using sigma points and weights from Van der Merwe's 2004 dissertation. diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator.java b/wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator.java index c30d70f122..00220a5b88 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator.java @@ -4,10 +4,9 @@ package org.wpilib.math.estimator; -import org.wpilib.math.util.MathSharedStore; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; +import java.util.NavigableMap; +import java.util.Optional; +import java.util.TreeMap; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; @@ -15,11 +14,12 @@ import org.wpilib.math.geometry.Twist2d; import org.wpilib.math.interpolation.TimeInterpolatableBuffer; import org.wpilib.math.kinematics.Kinematics; import org.wpilib.math.kinematics.Odometry; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N3; -import java.util.NavigableMap; -import java.util.Optional; -import java.util.TreeMap; +import org.wpilib.math.util.MathSharedStore; +import org.wpilib.math.util.Nat; /** * This class wraps {@link Odometry} to fuse latency-compensated vision measurements with encoder diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator3d.java b/wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator3d.java index 53a71004e9..15722b00e9 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator3d.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator3d.java @@ -4,10 +4,9 @@ package org.wpilib.math.estimator; -import org.wpilib.math.util.MathSharedStore; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; +import java.util.NavigableMap; +import java.util.Optional; +import java.util.TreeMap; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; @@ -18,12 +17,13 @@ import org.wpilib.math.geometry.Twist3d; import org.wpilib.math.interpolation.TimeInterpolatableBuffer; import org.wpilib.math.kinematics.Kinematics; import org.wpilib.math.kinematics.Odometry3d; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N4; import org.wpilib.math.numbers.N6; -import java.util.NavigableMap; -import java.util.Optional; -import java.util.TreeMap; +import org.wpilib.math.util.MathSharedStore; +import org.wpilib.math.util.Nat; /** * This class wraps {@link Odometry3d} to fuse latency-compensated vision measurements with encoder @@ -254,9 +254,8 @@ public class PoseEstimator3d { * your own time source by calling {@link * PoseEstimator3d#updateWithTime(double,Rotation3d,Object)} then you must use a timestamp * with an epoch since FPGA startup (i.e., the epoch of this timestamp is the same epoch as - * {@link org.wpilib.system.Timer#getFPGATimestamp()}.) This means that you should use - * {@link org.wpilib.system.Timer#getFPGATimestamp()} as your time source or sync the - * epochs. + * {@link org.wpilib.system.Timer#getFPGATimestamp()}.) This means that you should use {@link + * org.wpilib.system.Timer#getFPGATimestamp()} as your time source or sync the epochs. */ public void addVisionMeasurement(Pose3d visionRobotPose, double timestamp) { // Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip. diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/S3SigmaPoints.java b/wpimath/src/main/java/org/wpilib/math/estimator/S3SigmaPoints.java index beebd7148c..3ccc4a1e12 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/S3SigmaPoints.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/S3SigmaPoints.java @@ -4,11 +4,11 @@ package org.wpilib.math.estimator; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; import org.wpilib.math.util.Nat; import org.wpilib.math.util.Num; -import org.wpilib.math.numbers.N1; -import org.ejml.simple.SimpleMatrix; /** * Generates sigma points and weights according to Papakonstantinou's paper[1] for the diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/S3UKF.java b/wpimath/src/main/java/org/wpilib/math/estimator/S3UKF.java index 724f48ec7b..6303b5c1ca 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/S3UKF.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/S3UKF.java @@ -4,11 +4,11 @@ package org.wpilib.math.estimator; +import java.util.function.BiFunction; import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; import org.wpilib.math.util.Nat; import org.wpilib.math.util.Num; -import org.wpilib.math.numbers.N1; -import java.util.function.BiFunction; /** * An Unscented Kalman Filter using sigma points and weights from Papakonstantinou's paper. This is diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/SigmaPoints.java b/wpimath/src/main/java/org/wpilib/math/estimator/SigmaPoints.java index 246c2ea4e7..b19f6a4b26 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/SigmaPoints.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/SigmaPoints.java @@ -5,8 +5,8 @@ package org.wpilib.math.estimator; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Num; import org.wpilib.math.numbers.N1; +import org.wpilib.math.util.Num; /** * A sigma points generator for the UnscentedKalmanFilter class. diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/SteadyStateKalmanFilter.java b/wpimath/src/main/java/org/wpilib/math/estimator/SteadyStateKalmanFilter.java index 9411246e2c..c6aaad9bda 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/SteadyStateKalmanFilter.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/SteadyStateKalmanFilter.java @@ -6,12 +6,12 @@ package org.wpilib.math.estimator; import org.wpilib.math.linalg.DARE; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; -import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.numbers.N1; import org.wpilib.math.system.Discretization; import org.wpilib.math.system.LinearSystem; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; +import org.wpilib.math.util.StateSpaceUtil; /** * A Kalman filter combines predictions from a model and measurements to give an estimate of the diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator.java index 3665e8191b..61a150293e 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator.java @@ -4,13 +4,13 @@ package org.wpilib.math.estimator; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.SwerveDriveKinematics; import org.wpilib.math.kinematics.SwerveDriveOdometry; import org.wpilib.math.kinematics.SwerveModulePosition; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N3; diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator3d.java b/wpimath/src/main/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator3d.java index 95f2260893..4cf269fde3 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator3d.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator3d.java @@ -4,8 +4,6 @@ package org.wpilib.math.estimator; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; @@ -15,6 +13,8 @@ import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.kinematics.SwerveDriveKinematics; import org.wpilib.math.kinematics.SwerveDriveOdometry3d; import org.wpilib.math.kinematics.SwerveModulePosition; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N4; diff --git a/wpimath/src/main/java/org/wpilib/math/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/org/wpilib/math/estimator/UnscentedKalmanFilter.java index e3196826e1..a1d8521196 100644 --- a/wpimath/src/main/java/org/wpilib/math/estimator/UnscentedKalmanFilter.java +++ b/wpimath/src/main/java/org/wpilib/math/estimator/UnscentedKalmanFilter.java @@ -4,18 +4,18 @@ package org.wpilib.math.estimator; +import java.util.function.BiFunction; +import org.ejml.dense.row.decomposition.qr.QRDecompositionHouseholder_DDRM; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; -import org.wpilib.math.util.Pair; -import org.wpilib.math.util.StateSpaceUtil; import org.wpilib.math.numbers.N1; import org.wpilib.math.system.Discretization; import org.wpilib.math.system.NumericalIntegration; import org.wpilib.math.system.NumericalJacobian; -import java.util.function.BiFunction; -import org.ejml.dense.row.decomposition.qr.QRDecompositionHouseholder_DDRM; -import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; +import org.wpilib.math.util.Pair; +import org.wpilib.math.util.StateSpaceUtil; /** * A Kalman filter combines predictions from a model and measurements to give an estimate of the diff --git a/wpimath/src/main/java/org/wpilib/math/filter/LinearFilter.java b/wpimath/src/main/java/org/wpilib/math/filter/LinearFilter.java index 8bacd9da0c..b78f53e5f6 100644 --- a/wpimath/src/main/java/org/wpilib/math/filter/LinearFilter.java +++ b/wpimath/src/main/java/org/wpilib/math/filter/LinearFilter.java @@ -4,10 +4,10 @@ package org.wpilib.math.filter; -import org.wpilib.math.util.MathSharedStore; -import org.wpilib.util.container.DoubleCircularBuffer; import java.util.Arrays; import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.util.MathSharedStore; +import org.wpilib.util.container.DoubleCircularBuffer; /** * This class implements a linear, digital filter. All types of FIR and IIR filters are supported. diff --git a/wpimath/src/main/java/org/wpilib/math/filter/MedianFilter.java b/wpimath/src/main/java/org/wpilib/math/filter/MedianFilter.java index c10a093586..380e018c45 100644 --- a/wpimath/src/main/java/org/wpilib/math/filter/MedianFilter.java +++ b/wpimath/src/main/java/org/wpilib/math/filter/MedianFilter.java @@ -4,10 +4,10 @@ package org.wpilib.math.filter; -import org.wpilib.util.container.DoubleCircularBuffer; import java.util.ArrayList; import java.util.Collections; import java.util.List; +import org.wpilib.util.container.DoubleCircularBuffer; /** * A class that implements a moving-window median filter. Useful for reducing measurement noise, diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Ellipse2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Ellipse2d.java index eefd6aa076..f17dc536df 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Ellipse2d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Ellipse2d.java @@ -6,14 +6,14 @@ package org.wpilib.math.geometry; import static org.wpilib.units.Units.Meters; -import org.wpilib.math.util.Pair; +import java.util.Objects; import org.wpilib.math.geometry.proto.Ellipse2dProto; import org.wpilib.math.geometry.struct.Ellipse2dStruct; import org.wpilib.math.jni.Ellipse2dJNI; +import org.wpilib.math.util.Pair; import org.wpilib.units.measure.Distance; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** Represents a 2d ellipse space containing translational, rotational, and scaling components. */ public class Ellipse2d implements ProtobufSerializable, StructSerializable { diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java index 5f7d14ce77..4bfecd57c6 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java @@ -10,20 +10,20 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.fasterxml.jackson.annotation.JsonProperty; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.geometry.proto.Pose2dProto; -import org.wpilib.math.geometry.struct.Pose2dStruct; -import org.wpilib.math.interpolation.Interpolatable; -import org.wpilib.math.numbers.N3; -import org.wpilib.units.measure.Distance; -import org.wpilib.util.protobuf.ProtobufSerializable; -import org.wpilib.util.struct.StructSerializable; import java.util.Collection; import java.util.Collections; import java.util.Comparator; import java.util.Objects; +import org.wpilib.math.geometry.proto.Pose2dProto; +import org.wpilib.math.geometry.struct.Pose2dStruct; +import org.wpilib.math.interpolation.Interpolatable; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N3; +import org.wpilib.math.util.Nat; +import org.wpilib.units.measure.Distance; +import org.wpilib.util.protobuf.ProtobufSerializable; +import org.wpilib.util.struct.StructSerializable; /** Represents a 2D pose containing translational and rotational elements. */ @JsonIgnoreProperties(ignoreUnknown = true) diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java index 6ef2a86753..759de1afba 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java @@ -10,20 +10,20 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.fasterxml.jackson.annotation.JsonProperty; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.geometry.proto.Pose3dProto; -import org.wpilib.math.geometry.struct.Pose3dStruct; -import org.wpilib.math.interpolation.Interpolatable; -import org.wpilib.math.numbers.N4; -import org.wpilib.units.measure.Distance; -import org.wpilib.util.protobuf.ProtobufSerializable; -import org.wpilib.util.struct.StructSerializable; import java.util.Collection; import java.util.Collections; import java.util.Comparator; import java.util.Objects; +import org.wpilib.math.geometry.proto.Pose3dProto; +import org.wpilib.math.geometry.struct.Pose3dStruct; +import org.wpilib.math.interpolation.Interpolatable; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N4; +import org.wpilib.math.util.Nat; +import org.wpilib.units.measure.Distance; +import org.wpilib.util.protobuf.ProtobufSerializable; +import org.wpilib.util.struct.StructSerializable; /** Represents a 3D pose containing translational and rotational elements. */ @JsonIgnoreProperties(ignoreUnknown = true) diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java b/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java index f18529b720..fa8bf61124 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java @@ -8,14 +8,14 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.fasterxml.jackson.annotation.JsonProperty; -import org.wpilib.math.linalg.VecBuilder; -import org.wpilib.math.linalg.Vector; +import java.util.Objects; import org.wpilib.math.geometry.proto.QuaternionProto; import org.wpilib.math.geometry.struct.QuaternionStruct; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.linalg.Vector; import org.wpilib.math.numbers.N3; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** Represents a quaternion. */ @JsonIgnoreProperties(ignoreUnknown = true) diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Rectangle2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Rectangle2d.java index 04b623af02..fd30fb9118 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Rectangle2d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rectangle2d.java @@ -6,12 +6,12 @@ package org.wpilib.math.geometry; import static org.wpilib.units.Units.Meters; +import java.util.Objects; import org.wpilib.math.geometry.proto.Rectangle2dProto; import org.wpilib.math.geometry.struct.Rectangle2dStruct; import org.wpilib.units.measure.Distance; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** * Represents a 2d rectangular space containing translational, rotational, and scaling components. diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java index 769710b845..805ddf8eed 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java @@ -10,19 +10,19 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.fasterxml.jackson.annotation.JsonProperty; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.util.MathSharedStore; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; +import java.util.Objects; import org.wpilib.math.geometry.proto.Rotation2dProto; import org.wpilib.math.geometry.struct.Rotation2dStruct; import org.wpilib.math.interpolation.Interpolatable; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; import org.wpilib.math.numbers.N2; +import org.wpilib.math.util.MathSharedStore; +import org.wpilib.math.util.Nat; import org.wpilib.math.util.Units; import org.wpilib.units.measure.Angle; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** * A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine). diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java index 55e2d5d1d8..c6980f670f 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java @@ -10,20 +10,20 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.fasterxml.jackson.annotation.JsonProperty; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.util.MathSharedStore; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; -import org.wpilib.math.linalg.Vector; +import java.util.Objects; import org.wpilib.math.geometry.proto.Rotation3dProto; import org.wpilib.math.geometry.struct.Rotation3dStruct; import org.wpilib.math.interpolation.Interpolatable; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.linalg.Vector; import org.wpilib.math.numbers.N3; +import org.wpilib.math.util.MathSharedStore; +import org.wpilib.math.util.Nat; import org.wpilib.units.measure.Angle; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** A rotation in a 3D coordinate frame represented by a quaternion. */ @JsonIgnoreProperties(ignoreUnknown = true) diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Transform2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Transform2d.java index 625bd709a1..48cf673471 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Transform2d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Transform2d.java @@ -6,16 +6,16 @@ package org.wpilib.math.geometry; import static org.wpilib.units.Units.Meters; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; +import java.util.Objects; import org.wpilib.math.geometry.proto.Transform2dProto; import org.wpilib.math.geometry.struct.Transform2dStruct; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; import org.wpilib.math.numbers.N3; +import org.wpilib.math.util.Nat; import org.wpilib.units.measure.Distance; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** Represents a transformation for a Pose2d in the pose's frame. */ public class Transform2d implements ProtobufSerializable, StructSerializable { diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Transform3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Transform3d.java index e17307ff58..5da26ed3bb 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Transform3d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Transform3d.java @@ -6,17 +6,17 @@ package org.wpilib.math.geometry; import static org.wpilib.units.Units.Meters; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; +import java.util.Objects; import org.wpilib.math.geometry.proto.Transform3dProto; import org.wpilib.math.geometry.struct.Transform3dStruct; import org.wpilib.math.jni.Transform3dJNI; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; import org.wpilib.math.numbers.N4; +import org.wpilib.math.util.Nat; import org.wpilib.units.measure.Distance; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** Represents a transformation for a Pose3d in the pose's frame. */ public class Transform3d implements ProtobufSerializable, StructSerializable { diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java index 8aee771a37..1e5e7574f1 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java @@ -10,20 +10,20 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.fasterxml.jackson.annotation.JsonProperty; -import org.wpilib.math.util.MathUtil; -import org.wpilib.math.linalg.VecBuilder; -import org.wpilib.math.linalg.Vector; -import org.wpilib.math.geometry.proto.Translation2dProto; -import org.wpilib.math.geometry.struct.Translation2dStruct; -import org.wpilib.math.interpolation.Interpolatable; -import org.wpilib.math.numbers.N2; -import org.wpilib.units.measure.Distance; -import org.wpilib.util.protobuf.ProtobufSerializable; -import org.wpilib.util.struct.StructSerializable; import java.util.Collection; import java.util.Collections; import java.util.Comparator; import java.util.Objects; +import org.wpilib.math.geometry.proto.Translation2dProto; +import org.wpilib.math.geometry.struct.Translation2dStruct; +import org.wpilib.math.interpolation.Interpolatable; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.linalg.Vector; +import org.wpilib.math.numbers.N2; +import org.wpilib.math.util.MathUtil; +import org.wpilib.units.measure.Distance; +import org.wpilib.util.protobuf.ProtobufSerializable; +import org.wpilib.util.struct.StructSerializable; /** * Represents a translation in 2D space. This object can be used to represent a point or a vector. diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java index 0963240b5d..7b72d52aab 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java @@ -10,20 +10,20 @@ import com.fasterxml.jackson.annotation.JsonAutoDetect; import com.fasterxml.jackson.annotation.JsonCreator; import com.fasterxml.jackson.annotation.JsonIgnoreProperties; import com.fasterxml.jackson.annotation.JsonProperty; -import org.wpilib.math.util.MathUtil; -import org.wpilib.math.linalg.VecBuilder; -import org.wpilib.math.linalg.Vector; -import org.wpilib.math.geometry.proto.Translation3dProto; -import org.wpilib.math.geometry.struct.Translation3dStruct; -import org.wpilib.math.interpolation.Interpolatable; -import org.wpilib.math.numbers.N3; -import org.wpilib.units.measure.Distance; -import org.wpilib.util.protobuf.ProtobufSerializable; -import org.wpilib.util.struct.StructSerializable; import java.util.Collection; import java.util.Collections; import java.util.Comparator; import java.util.Objects; +import org.wpilib.math.geometry.proto.Translation3dProto; +import org.wpilib.math.geometry.struct.Translation3dStruct; +import org.wpilib.math.interpolation.Interpolatable; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.linalg.Vector; +import org.wpilib.math.numbers.N3; +import org.wpilib.math.util.MathUtil; +import org.wpilib.units.measure.Distance; +import org.wpilib.util.protobuf.ProtobufSerializable; +import org.wpilib.util.struct.StructSerializable; /** * Represents a translation in 3D space. This object can be used to represent a point or a vector. diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Twist2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Twist2d.java index b5ecb6dfac..1da5137ca1 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Twist2d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Twist2d.java @@ -4,11 +4,11 @@ package org.wpilib.math.geometry; +import java.util.Objects; import org.wpilib.math.geometry.proto.Twist2dProto; import org.wpilib.math.geometry.struct.Twist2dStruct; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** * A change in distance along a 2D arc since the last pose update. We can use ideas from diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Twist3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Twist3d.java index 25e4721e69..0a9b2d91fc 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/Twist3d.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/Twist3d.java @@ -4,12 +4,12 @@ package org.wpilib.math.geometry; +import java.util.Objects; import org.wpilib.math.geometry.proto.Twist3dProto; import org.wpilib.math.geometry.struct.Twist3dStruct; import org.wpilib.math.jni.Twist3dJNI; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** * A change in distance along a 3D arc since the last pose update. We can use ideas from diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Ellipse2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Ellipse2dStruct.java index a5aa6c3e7d..83547c329e 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Ellipse2dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Ellipse2dStruct.java @@ -4,10 +4,10 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Ellipse2d; import org.wpilib.math.geometry.Pose2d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Ellipse2dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose2dStruct.java index 620468cdde..cb2b5d4ca1 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose2dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose2dStruct.java @@ -4,11 +4,11 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Pose2dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose3dStruct.java index 7427673b7e..75c5280c8a 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose3dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose3dStruct.java @@ -4,11 +4,11 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Translation3d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Pose3dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/QuaternionStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/QuaternionStruct.java index 9119690fb5..9dd3e2caf7 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/QuaternionStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/QuaternionStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Quaternion; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class QuaternionStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rectangle2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rectangle2dStruct.java index 3a4ba5aa49..befda03dd6 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rectangle2dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rectangle2dStruct.java @@ -4,10 +4,10 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rectangle2d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Rectangle2dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation2dStruct.java index 45afd629e0..7109b7113d 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation2dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation2dStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Rotation2dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation3dStruct.java index 369c896da5..50fde85eff 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation3dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation3dStruct.java @@ -4,10 +4,10 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Quaternion; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Rotation3dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform2dStruct.java index b0c50cc88b..b1dc86aea3 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform2dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform2dStruct.java @@ -4,11 +4,11 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Transform2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Transform2dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform3dStruct.java index e69f26bd7e..e711a420d7 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform3dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform3dStruct.java @@ -4,11 +4,11 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Transform3d; import org.wpilib.math.geometry.Translation3d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Transform3dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation2dStruct.java index 8477d8e26b..7a910ff5c6 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation2dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation2dStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Translation2d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Translation2dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation3dStruct.java index 7efcf3f41b..13ac468f66 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation3dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation3dStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Translation3d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Translation3dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist2dStruct.java index 3f33fa46c0..53862d3cde 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist2dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist2dStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Twist2d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Twist2dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist3dStruct.java index ce3c6619a3..8b7b73ac26 100644 --- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist3dStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist3dStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.geometry.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Twist3d; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class Twist3dStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/interpolation/TimeInterpolatableBuffer.java b/wpimath/src/main/java/org/wpilib/math/interpolation/TimeInterpolatableBuffer.java index 7bf885323c..c3b26cc055 100644 --- a/wpimath/src/main/java/org/wpilib/math/interpolation/TimeInterpolatableBuffer.java +++ b/wpimath/src/main/java/org/wpilib/math/interpolation/TimeInterpolatableBuffer.java @@ -4,10 +4,10 @@ package org.wpilib.math.interpolation; -import org.wpilib.math.util.MathUtil; import java.util.NavigableMap; import java.util.Optional; import java.util.TreeMap; +import org.wpilib.math.util.MathUtil; /** * The TimeInterpolatableBuffer provides an easy way to estimate past measurements. One application diff --git a/wpimath/src/main/java/org/wpilib/math/jni/WPIMathJNI.java b/wpimath/src/main/java/org/wpilib/math/jni/WPIMathJNI.java index db2c80ba1b..486c4037da 100644 --- a/wpimath/src/main/java/org/wpilib/math/jni/WPIMathJNI.java +++ b/wpimath/src/main/java/org/wpilib/math/jni/WPIMathJNI.java @@ -4,9 +4,9 @@ package org.wpilib.math.jni; -import org.wpilib.util.runtime.RuntimeLoader; import java.io.IOException; import java.util.concurrent.atomic.AtomicBoolean; +import org.wpilib.util.runtime.RuntimeLoader; /** Base class for all WPIMath JNI wrappers. */ public class WPIMathJNI { diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/org/wpilib/math/kinematics/ChassisSpeeds.java index 1c044ddd69..8eaa72ea99 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/ChassisSpeeds.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/ChassisSpeeds.java @@ -7,6 +7,7 @@ package org.wpilib.math.kinematics; import static org.wpilib.units.Units.MetersPerSecond; import static org.wpilib.units.Units.RadiansPerSecond; +import java.util.Objects; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Transform2d; import org.wpilib.math.geometry.Translation2d; @@ -17,7 +18,6 @@ import org.wpilib.units.measure.AngularVelocity; import org.wpilib.units.measure.LinearVelocity; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** * Represents the speed of a robot chassis. Although this class contains similar members compared to diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveKinematics.java b/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveKinematics.java index 0a2bd46e81..0e8c92907b 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveKinematics.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveKinematics.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics; import static org.wpilib.units.Units.Meters; -import org.wpilib.math.util.MathSharedStore; import org.wpilib.math.geometry.Twist2d; import org.wpilib.math.kinematics.proto.DifferentialDriveKinematicsProto; import org.wpilib.math.kinematics.struct.DifferentialDriveKinematicsStruct; +import org.wpilib.math.util.MathSharedStore; import org.wpilib.units.measure.Distance; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveOdometry.java b/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveOdometry.java index d907c403ac..d4cb487a60 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveOdometry.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveOdometry.java @@ -6,9 +6,9 @@ package org.wpilib.math.kinematics; import static org.wpilib.units.Units.Meters; -import org.wpilib.math.util.MathSharedStore; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.util.MathSharedStore; import org.wpilib.units.measure.Distance; /** diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveOdometry3d.java b/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveOdometry3d.java index 614f9a83bd..0e40136ea7 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveOdometry3d.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveOdometry3d.java @@ -6,13 +6,13 @@ package org.wpilib.math.kinematics; import static org.wpilib.units.Units.Meters; -import org.wpilib.math.util.MathSharedStore; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.geometry.Translation3d; +import org.wpilib.math.util.MathSharedStore; import org.wpilib.units.measure.Distance; /** diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveWheelPositions.java b/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveWheelPositions.java index ca81dbf44e..ce13c0d65a 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveWheelPositions.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/DifferentialDriveWheelPositions.java @@ -6,14 +6,14 @@ package org.wpilib.math.kinematics; import static org.wpilib.units.Units.Meters; -import org.wpilib.math.util.MathUtil; +import java.util.Objects; import org.wpilib.math.interpolation.Interpolatable; import org.wpilib.math.kinematics.proto.DifferentialDriveWheelPositionsProto; import org.wpilib.math.kinematics.struct.DifferentialDriveWheelPositionsStruct; +import org.wpilib.math.util.MathUtil; import org.wpilib.units.measure.Distance; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** Represents the wheel positions for a differential drive drivetrain. */ public class DifferentialDriveWheelPositions diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveKinematics.java b/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveKinematics.java index cad2877dff..72ed9e5822 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveKinematics.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveKinematics.java @@ -4,14 +4,14 @@ package org.wpilib.math.kinematics; -import org.wpilib.math.util.MathSharedStore; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.geometry.Twist2d; import org.wpilib.math.kinematics.proto.MecanumDriveKinematicsProto; import org.wpilib.math.kinematics.struct.MecanumDriveKinematicsStruct; +import org.wpilib.math.util.MathSharedStore; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import org.ejml.simple.SimpleMatrix; /** * Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveOdometry.java b/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveOdometry.java index 2ea20ce06c..57ef106130 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveOdometry.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveOdometry.java @@ -4,9 +4,9 @@ package org.wpilib.math.kinematics; -import org.wpilib.math.util.MathSharedStore; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.util.MathSharedStore; /** * Class for mecanum drive odometry. Odometry allows you to track the robot's position on the field diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveOdometry3d.java b/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveOdometry3d.java index 40990d61b4..949b1632b8 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveOdometry3d.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveOdometry3d.java @@ -4,13 +4,13 @@ package org.wpilib.math.kinematics; -import org.wpilib.math.util.MathSharedStore; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.geometry.Translation3d; +import org.wpilib.math.util.MathSharedStore; /** * Class for mecanum drive odometry. Odometry allows you to track the robot's position on the field diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveWheelPositions.java b/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveWheelPositions.java index c807bb7369..6b539cae4c 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveWheelPositions.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/MecanumDriveWheelPositions.java @@ -6,14 +6,14 @@ package org.wpilib.math.kinematics; import static org.wpilib.units.Units.Meters; -import org.wpilib.math.util.MathUtil; +import java.util.Objects; import org.wpilib.math.interpolation.Interpolatable; import org.wpilib.math.kinematics.proto.MecanumDriveWheelPositionsProto; import org.wpilib.math.kinematics.struct.MecanumDriveWheelPositionsStruct; +import org.wpilib.math.util.MathUtil; import org.wpilib.units.measure.Distance; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** Represents the wheel positions for a mecanum drive drivetrain. */ public class MecanumDriveWheelPositions diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveKinematics.java b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveKinematics.java index 4acc3af00d..82c3cb05aa 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveKinematics.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveKinematics.java @@ -7,19 +7,19 @@ package org.wpilib.math.kinematics; import static org.wpilib.units.Units.MetersPerSecond; import static org.wpilib.units.Units.RadiansPerSecond; -import org.wpilib.math.util.MathSharedStore; +import java.util.Arrays; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.geometry.Twist2d; import org.wpilib.math.kinematics.proto.SwerveDriveKinematicsProto; import org.wpilib.math.kinematics.struct.SwerveDriveKinematicsStruct; +import org.wpilib.math.util.MathSharedStore; import org.wpilib.units.measure.AngularVelocity; import org.wpilib.units.measure.LinearVelocity; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.Struct; import org.wpilib.util.struct.StructSerializable; -import java.util.Arrays; -import org.ejml.simple.SimpleMatrix; /** * Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveOdometry.java b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveOdometry.java index 2c70296633..bec0c67fa4 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveOdometry.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveOdometry.java @@ -4,9 +4,9 @@ package org.wpilib.math.kinematics; -import org.wpilib.math.util.MathSharedStore; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.util.MathSharedStore; /** * Class for swerve drive odometry. Odometry allows you to track the robot's position on the field diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveOdometry3d.java b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveOdometry3d.java index 9418f61b7b..ec58dcfe5f 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveOdometry3d.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveDriveOdometry3d.java @@ -4,13 +4,13 @@ package org.wpilib.math.kinematics; -import org.wpilib.math.util.MathSharedStore; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.geometry.Translation3d; +import org.wpilib.math.util.MathSharedStore; /** * Class for swerve drive odometry. Odometry allows you to track the robot's position on the field diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveModulePosition.java b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveModulePosition.java index 17dff4f185..7c0d900421 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveModulePosition.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveModulePosition.java @@ -6,15 +6,15 @@ package org.wpilib.math.kinematics; import static org.wpilib.units.Units.Meters; -import org.wpilib.math.util.MathUtil; +import java.util.Objects; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.interpolation.Interpolatable; import org.wpilib.math.kinematics.proto.SwerveModulePositionProto; import org.wpilib.math.kinematics.struct.SwerveModulePositionStruct; +import org.wpilib.math.util.MathUtil; import org.wpilib.units.measure.Distance; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** Represents the state of one swerve module. */ public class SwerveModulePosition diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveModuleState.java b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveModuleState.java index 4e859f615d..47282efc20 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveModuleState.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/SwerveModuleState.java @@ -6,13 +6,13 @@ package org.wpilib.math.kinematics; import static org.wpilib.units.Units.MetersPerSecond; +import java.util.Objects; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.proto.SwerveModuleStateProto; import org.wpilib.math.kinematics.struct.SwerveModuleStateStruct; import org.wpilib.units.measure.LinearVelocity; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** Represents the state of one swerve module. */ public class SwerveModuleState diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/ChassisSpeedsStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/ChassisSpeedsStruct.java index 56e09ef96f..ffb93bcc77 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/ChassisSpeedsStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/ChassisSpeedsStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class ChassisSpeedsStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveKinematicsStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveKinematicsStruct.java index 1fc6fd232c..d137e91b1a 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveKinematicsStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveKinematicsStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.kinematics.DifferentialDriveKinematics; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class DifferentialDriveKinematicsStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java index 891da97e24..cf9169cbc2 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.kinematics.DifferentialDriveWheelPositions; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class DifferentialDriveWheelPositionsStruct implements Struct { diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java index 4206f7c65f..8f45c0c3e5 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class DifferentialDriveWheelSpeedsStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveKinematicsStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveKinematicsStruct.java index a4c17009ab..aa19cafc02 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveKinematicsStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveKinematicsStruct.java @@ -4,10 +4,10 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.kinematics.MecanumDriveKinematics; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class MecanumDriveKinematicsStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java index 7ed9d1c7c3..b071b3d483 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.kinematics.MecanumDriveWheelPositions; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class MecanumDriveWheelPositionsStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java index 3767ed7fbf..4eb4f5da3f 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.kinematics.MecanumDriveWheelSpeeds; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class MecanumDriveWheelSpeedsStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveDriveKinematicsStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveDriveKinematicsStruct.java index b0bb3c360f..74a077287b 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveDriveKinematicsStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveDriveKinematicsStruct.java @@ -4,10 +4,10 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.kinematics.SwerveDriveKinematics; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public final class SwerveDriveKinematicsStruct implements Struct { private final int m_numModules; diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveModulePositionStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveModulePositionStruct.java index d8e31dec6e..850c007f3a 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveModulePositionStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveModulePositionStruct.java @@ -4,10 +4,10 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.SwerveModulePosition; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class SwerveModulePositionStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveModuleStateStruct.java b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveModuleStateStruct.java index 69f0f20ac5..dc6f77fc9c 100644 --- a/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveModuleStateStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/kinematics/struct/SwerveModuleStateStruct.java @@ -4,10 +4,10 @@ package org.wpilib.math.kinematics.struct; +import java.nio.ByteBuffer; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.SwerveModuleState; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class SwerveModuleStateStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/linalg/DARE.java b/wpimath/src/main/java/org/wpilib/math/linalg/DARE.java index cdb7b42d5d..1abc9160da 100644 --- a/wpimath/src/main/java/org/wpilib/math/linalg/DARE.java +++ b/wpimath/src/main/java/org/wpilib/math/linalg/DARE.java @@ -4,8 +4,8 @@ package org.wpilib.math.linalg; -import org.wpilib.math.jni.DAREJNI; import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.jni.DAREJNI; import org.wpilib.math.util.Num; /** DARE solver utility functions. */ diff --git a/wpimath/src/main/java/org/wpilib/math/linalg/Matrix.java b/wpimath/src/main/java/org/wpilib/math/linalg/Matrix.java index d88d145a79..9c8ac0bda4 100644 --- a/wpimath/src/main/java/org/wpilib/math/linalg/Matrix.java +++ b/wpimath/src/main/java/org/wpilib/math/linalg/Matrix.java @@ -4,16 +4,6 @@ package org.wpilib.math.linalg; -import org.wpilib.math.jni.EigenJNI; -import org.wpilib.math.numbers.N1; -import org.wpilib.math.linalg.proto.MatrixProto; -import org.wpilib.math.linalg.struct.MatrixStruct; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; -import org.wpilib.util.protobuf.Protobuf; -import org.wpilib.util.protobuf.ProtobufSerializable; -import org.wpilib.util.struct.Struct; -import org.wpilib.util.struct.StructSerializable; import java.util.Objects; import org.ejml.MatrixDimensionException; import org.ejml.data.DMatrixRMaj; @@ -23,6 +13,16 @@ import org.ejml.dense.row.NormOps_DDRM; import org.ejml.dense.row.factory.DecompositionFactory_DDRM; import org.ejml.interfaces.decomposition.CholeskyDecomposition_F64; import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.jni.EigenJNI; +import org.wpilib.math.linalg.proto.MatrixProto; +import org.wpilib.math.linalg.struct.MatrixStruct; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; +import org.wpilib.util.protobuf.Protobuf; +import org.wpilib.util.protobuf.ProtobufSerializable; +import org.wpilib.util.struct.Struct; +import org.wpilib.util.struct.StructSerializable; /** * A shape-safe wrapper over Efficient Java Matrix Library (EJML) matrices. diff --git a/wpimath/src/main/java/org/wpilib/math/linalg/VecBuilder.java b/wpimath/src/main/java/org/wpilib/math/linalg/VecBuilder.java index 9f7240f332..ab033638e0 100644 --- a/wpimath/src/main/java/org/wpilib/math/linalg/VecBuilder.java +++ b/wpimath/src/main/java/org/wpilib/math/linalg/VecBuilder.java @@ -4,6 +4,8 @@ package org.wpilib.math.linalg; +import java.util.Objects; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N10; import org.wpilib.math.numbers.N2; @@ -16,8 +18,6 @@ import org.wpilib.math.numbers.N8; import org.wpilib.math.numbers.N9; import org.wpilib.math.util.Nat; import org.wpilib.math.util.Num; -import java.util.Objects; -import org.ejml.simple.SimpleMatrix; /** A class for constructing vectors (Nx1 matrices). */ public final class VecBuilder { diff --git a/wpimath/src/main/java/org/wpilib/math/linalg/Vector.java b/wpimath/src/main/java/org/wpilib/math/linalg/Vector.java index 2e5e849e8f..0371866436 100644 --- a/wpimath/src/main/java/org/wpilib/math/linalg/Vector.java +++ b/wpimath/src/main/java/org/wpilib/math/linalg/Vector.java @@ -4,18 +4,18 @@ package org.wpilib.math.linalg; -import org.wpilib.math.numbers.N1; -import org.wpilib.math.numbers.N3; +import java.util.Objects; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.proto.VectorProto; import org.wpilib.math.linalg.struct.VectorStruct; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.numbers.N3; import org.wpilib.math.util.Nat; import org.wpilib.math.util.Num; import org.wpilib.util.protobuf.Protobuf; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.Struct; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; -import org.ejml.simple.SimpleMatrix; /** * A shape-safe wrapper over Efficient Java Matrix Library (EJML) matrices. diff --git a/wpimath/src/main/java/org/wpilib/math/linalg/proto/MatrixProto.java b/wpimath/src/main/java/org/wpilib/math/linalg/proto/MatrixProto.java index 0d5fa5e08d..6d63fcb942 100644 --- a/wpimath/src/main/java/org/wpilib/math/linalg/proto/MatrixProto.java +++ b/wpimath/src/main/java/org/wpilib/math/linalg/proto/MatrixProto.java @@ -6,9 +6,9 @@ package org.wpilib.math.linalg.proto; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.proto.Wpimath.ProtobufMatrix; import org.wpilib.math.util.Nat; import org.wpilib.math.util.Num; -import org.wpilib.math.proto.Wpimath.ProtobufMatrix; import org.wpilib.util.protobuf.Protobuf; import us.hebi.quickbuf.Descriptors.Descriptor; diff --git a/wpimath/src/main/java/org/wpilib/math/linalg/proto/VectorProto.java b/wpimath/src/main/java/org/wpilib/math/linalg/proto/VectorProto.java index 061b785e44..23d0185a2f 100644 --- a/wpimath/src/main/java/org/wpilib/math/linalg/proto/VectorProto.java +++ b/wpimath/src/main/java/org/wpilib/math/linalg/proto/VectorProto.java @@ -4,12 +4,12 @@ package org.wpilib.math.linalg.proto; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.Vector; import org.wpilib.math.proto.Wpimath.ProtobufVector; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; import org.wpilib.util.protobuf.Protobuf; -import org.ejml.simple.SimpleMatrix; import us.hebi.quickbuf.Descriptors.Descriptor; public final class VectorProto implements Protobuf, ProtobufVector> { diff --git a/wpimath/src/main/java/org/wpilib/math/linalg/struct/MatrixStruct.java b/wpimath/src/main/java/org/wpilib/math/linalg/struct/MatrixStruct.java index 78e9f53362..20e967ca95 100644 --- a/wpimath/src/main/java/org/wpilib/math/linalg/struct/MatrixStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/linalg/struct/MatrixStruct.java @@ -4,12 +4,12 @@ package org.wpilib.math.linalg.struct; +import java.nio.ByteBuffer; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; import org.wpilib.math.util.Nat; import org.wpilib.math.util.Num; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public final class MatrixStruct implements Struct> { private final Nat m_rows; diff --git a/wpimath/src/main/java/org/wpilib/math/linalg/struct/VectorStruct.java b/wpimath/src/main/java/org/wpilib/math/linalg/struct/VectorStruct.java index c531607e60..3a27e45c3e 100644 --- a/wpimath/src/main/java/org/wpilib/math/linalg/struct/VectorStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/linalg/struct/VectorStruct.java @@ -4,12 +4,12 @@ package org.wpilib.math.linalg.struct; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; -import org.wpilib.math.linalg.Vector; -import org.wpilib.util.struct.Struct; import java.nio.ByteBuffer; import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.linalg.Vector; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; +import org.wpilib.util.struct.Struct; public final class VectorStruct implements Struct> { private final int m_rows; diff --git a/wpimath/src/main/java/org/wpilib/math/path/TravelingSalesman.java b/wpimath/src/main/java/org/wpilib/math/path/TravelingSalesman.java index 721cc53c08..c289f9b8fd 100644 --- a/wpimath/src/main/java/org/wpilib/math/path/TravelingSalesman.java +++ b/wpimath/src/main/java/org/wpilib/math/path/TravelingSalesman.java @@ -4,13 +4,13 @@ package org.wpilib.math.path; -import org.wpilib.math.util.Num; -import org.wpilib.math.linalg.Vector; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.optimization.SimulatedAnnealing; import java.util.Arrays; import java.util.Collections; import java.util.function.ToDoubleBiFunction; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.linalg.Vector; +import org.wpilib.math.optimization.SimulatedAnnealing; +import org.wpilib.math.util.Num; /** * Given a list of poses, this class finds the shortest possible route that visits each pose exactly diff --git a/wpimath/src/main/java/org/wpilib/math/spline/CubicHermiteSpline.java b/wpimath/src/main/java/org/wpilib/math/spline/CubicHermiteSpline.java index cb88e92c1d..c973652fe6 100644 --- a/wpimath/src/main/java/org/wpilib/math/spline/CubicHermiteSpline.java +++ b/wpimath/src/main/java/org/wpilib/math/spline/CubicHermiteSpline.java @@ -4,11 +4,11 @@ package org.wpilib.math.spline; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.spline.proto.CubicHermiteSplineProto; import org.wpilib.math.spline.struct.CubicHermiteSplineStruct; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import org.ejml.simple.SimpleMatrix; /** Represents a hermite spline of degree 3. */ public class CubicHermiteSpline extends Spline implements ProtobufSerializable, StructSerializable { diff --git a/wpimath/src/main/java/org/wpilib/math/spline/QuinticHermiteSpline.java b/wpimath/src/main/java/org/wpilib/math/spline/QuinticHermiteSpline.java index 8e99b516e2..abbfd5a098 100644 --- a/wpimath/src/main/java/org/wpilib/math/spline/QuinticHermiteSpline.java +++ b/wpimath/src/main/java/org/wpilib/math/spline/QuinticHermiteSpline.java @@ -4,11 +4,11 @@ package org.wpilib.math.spline; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.spline.proto.QuinticHermiteSplineProto; import org.wpilib.math.spline.struct.QuinticHermiteSplineStruct; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.StructSerializable; -import org.ejml.simple.SimpleMatrix; /** Represents a hermite spline of degree 5. */ public class QuinticHermiteSpline extends Spline diff --git a/wpimath/src/main/java/org/wpilib/math/spline/Spline.java b/wpimath/src/main/java/org/wpilib/math/spline/Spline.java index a758712ace..d2aa565bd9 100644 --- a/wpimath/src/main/java/org/wpilib/math/spline/Spline.java +++ b/wpimath/src/main/java/org/wpilib/math/spline/Spline.java @@ -4,11 +4,11 @@ package org.wpilib.math.spline; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.geometry.Rotation2d; import java.util.Arrays; import java.util.Optional; import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; /** Represents a two-dimensional parametric spline that interpolates between two points. */ public abstract class Spline { diff --git a/wpimath/src/main/java/org/wpilib/math/spline/SplineHelper.java b/wpimath/src/main/java/org/wpilib/math/spline/SplineHelper.java index 9df327a9c4..a5215c51fa 100644 --- a/wpimath/src/main/java/org/wpilib/math/spline/SplineHelper.java +++ b/wpimath/src/main/java/org/wpilib/math/spline/SplineHelper.java @@ -4,11 +4,11 @@ package org.wpilib.math.spline; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.geometry.Translation2d; import java.util.Arrays; import java.util.List; import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Translation2d; /** Helper class that is used to generate cubic and quintic splines from user provided waypoints. */ public final class SplineHelper { diff --git a/wpimath/src/main/java/org/wpilib/math/spline/struct/CubicHermiteSplineStruct.java b/wpimath/src/main/java/org/wpilib/math/spline/struct/CubicHermiteSplineStruct.java index ba2ff376a2..c948da6929 100644 --- a/wpimath/src/main/java/org/wpilib/math/spline/struct/CubicHermiteSplineStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/spline/struct/CubicHermiteSplineStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.spline.struct; +import java.nio.ByteBuffer; import org.wpilib.math.spline.CubicHermiteSpline; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public final class CubicHermiteSplineStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/spline/struct/QuinticHermiteSplineStruct.java b/wpimath/src/main/java/org/wpilib/math/spline/struct/QuinticHermiteSplineStruct.java index eabf263ca2..669990a23e 100644 --- a/wpimath/src/main/java/org/wpilib/math/spline/struct/QuinticHermiteSplineStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/spline/struct/QuinticHermiteSplineStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.spline.struct; +import java.nio.ByteBuffer; import org.wpilib.math.spline.QuinticHermiteSpline; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public final class QuinticHermiteSplineStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/system/Discretization.java b/wpimath/src/main/java/org/wpilib/math/system/Discretization.java index a1167bdd65..e59819a851 100644 --- a/wpimath/src/main/java/org/wpilib/math/system/Discretization.java +++ b/wpimath/src/main/java/org/wpilib/math/system/Discretization.java @@ -4,10 +4,10 @@ package org.wpilib.math.system; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.Matrix; import org.wpilib.math.util.Num; import org.wpilib.math.util.Pair; -import org.ejml.simple.SimpleMatrix; /** Discretization helper functions. */ public final class Discretization { diff --git a/wpimath/src/main/java/org/wpilib/math/system/LinearSystem.java b/wpimath/src/main/java/org/wpilib/math/system/LinearSystem.java index 702b180e58..dcdb0e7899 100644 --- a/wpimath/src/main/java/org/wpilib/math/system/LinearSystem.java +++ b/wpimath/src/main/java/org/wpilib/math/system/LinearSystem.java @@ -4,9 +4,12 @@ package org.wpilib.math.system; +import java.util.Arrays; +import java.util.Collections; +import java.util.List; +import java.util.stream.Collectors; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N10; import org.wpilib.math.numbers.N11; @@ -29,15 +32,12 @@ import org.wpilib.math.numbers.N8; import org.wpilib.math.numbers.N9; import org.wpilib.math.system.proto.LinearSystemProto; import org.wpilib.math.system.struct.LinearSystemStruct; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; import org.wpilib.util.protobuf.Protobuf; import org.wpilib.util.protobuf.ProtobufSerializable; import org.wpilib.util.struct.Struct; import org.wpilib.util.struct.StructSerializable; -import java.util.Arrays; -import java.util.Collections; -import java.util.List; -import java.util.stream.Collectors; -import org.ejml.simple.SimpleMatrix; /** * A plant defined using state-space notation. diff --git a/wpimath/src/main/java/org/wpilib/math/system/LinearSystemLoop.java b/wpimath/src/main/java/org/wpilib/math/system/LinearSystemLoop.java index ab3646bbbe..dccc4089f5 100644 --- a/wpimath/src/main/java/org/wpilib/math/system/LinearSystemLoop.java +++ b/wpimath/src/main/java/org/wpilib/math/system/LinearSystemLoop.java @@ -4,16 +4,16 @@ package org.wpilib.math.system; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Num; -import org.wpilib.math.util.StateSpaceUtil; -import org.wpilib.math.controller.LinearPlantInversionFeedforward; -import org.wpilib.math.controller.LinearQuadraticRegulator; -import org.wpilib.math.estimator.KalmanFilter; -import org.wpilib.math.numbers.N1; import java.util.function.Function; import org.ejml.MatrixDimensionException; import org.ejml.simple.SimpleMatrix; +import org.wpilib.math.controller.LinearPlantInversionFeedforward; +import org.wpilib.math.controller.LinearQuadraticRegulator; +import org.wpilib.math.estimator.KalmanFilter; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.util.Num; +import org.wpilib.math.util.StateSpaceUtil; /** * Combines a controller, feedforward, and observer for controlling a mechanism with full state diff --git a/wpimath/src/main/java/org/wpilib/math/system/NumericalIntegration.java b/wpimath/src/main/java/org/wpilib/math/system/NumericalIntegration.java index e03defac4f..ac760488b7 100644 --- a/wpimath/src/main/java/org/wpilib/math/system/NumericalIntegration.java +++ b/wpimath/src/main/java/org/wpilib/math/system/NumericalIntegration.java @@ -4,13 +4,13 @@ package org.wpilib.math.system; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Num; -import org.wpilib.math.numbers.N1; import java.util.function.BiFunction; import java.util.function.DoubleBinaryOperator; import java.util.function.DoubleUnaryOperator; import java.util.function.UnaryOperator; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.util.Num; /** Numerical integration utilities. */ public final class NumericalIntegration { diff --git a/wpimath/src/main/java/org/wpilib/math/system/NumericalJacobian.java b/wpimath/src/main/java/org/wpilib/math/system/NumericalJacobian.java index 55a3f64f0f..eca215d15d 100644 --- a/wpimath/src/main/java/org/wpilib/math/system/NumericalJacobian.java +++ b/wpimath/src/main/java/org/wpilib/math/system/NumericalJacobian.java @@ -4,12 +4,12 @@ package org.wpilib.math.system; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; -import org.wpilib.math.numbers.N1; import java.util.function.BiFunction; import java.util.function.Function; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.numbers.N1; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; /** Numerical Jacobian utilities. */ public final class NumericalJacobian { diff --git a/wpimath/src/main/java/org/wpilib/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/org/wpilib/math/system/plant/LinearSystemId.java index fa10f372c8..ac34f8d514 100644 --- a/wpimath/src/main/java/org/wpilib/math/system/plant/LinearSystemId.java +++ b/wpimath/src/main/java/org/wpilib/math/system/plant/LinearSystemId.java @@ -6,11 +6,11 @@ package org.wpilib.math.system.plant; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; +import org.wpilib.math.util.Nat; /** Linear system ID utility functions. */ public final class LinearSystemId { diff --git a/wpimath/src/main/java/org/wpilib/math/system/plant/struct/DCMotorStruct.java b/wpimath/src/main/java/org/wpilib/math/system/plant/struct/DCMotorStruct.java index 0cf73819e3..93b6c49280 100644 --- a/wpimath/src/main/java/org/wpilib/math/system/plant/struct/DCMotorStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/system/plant/struct/DCMotorStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.system.plant.struct; +import java.nio.ByteBuffer; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class DCMotorStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/system/proto/LinearSystemProto.java b/wpimath/src/main/java/org/wpilib/math/system/proto/LinearSystemProto.java index 7678b7c398..019b0427ef 100644 --- a/wpimath/src/main/java/org/wpilib/math/system/proto/LinearSystemProto.java +++ b/wpimath/src/main/java/org/wpilib/math/system/proto/LinearSystemProto.java @@ -5,11 +5,11 @@ package org.wpilib.math.system.proto; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; import org.wpilib.math.proto.System.ProtobufLinearSystem; import org.wpilib.math.proto.Wpimath.ProtobufMatrix; import org.wpilib.math.system.LinearSystem; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; import org.wpilib.util.protobuf.Protobuf; import us.hebi.quickbuf.Descriptors.Descriptor; diff --git a/wpimath/src/main/java/org/wpilib/math/system/struct/LinearSystemStruct.java b/wpimath/src/main/java/org/wpilib/math/system/struct/LinearSystemStruct.java index f4fecb47e6..8899f6b8d6 100644 --- a/wpimath/src/main/java/org/wpilib/math/system/struct/LinearSystemStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/system/struct/LinearSystemStruct.java @@ -4,13 +4,13 @@ package org.wpilib.math.system.struct; +import java.nio.ByteBuffer; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; import org.wpilib.math.linalg.struct.MatrixStruct; import org.wpilib.math.system.LinearSystem; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public final class LinearSystemStruct implements Struct> { diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/ExponentialProfile.java b/wpimath/src/main/java/org/wpilib/math/trajectory/ExponentialProfile.java index 972b11459f..e58153159c 100644 --- a/wpimath/src/main/java/org/wpilib/math/trajectory/ExponentialProfile.java +++ b/wpimath/src/main/java/org/wpilib/math/trajectory/ExponentialProfile.java @@ -4,9 +4,9 @@ package org.wpilib.math.trajectory; +import java.util.Objects; import org.wpilib.math.trajectory.struct.ExponentialProfileStateStruct; import org.wpilib.util.struct.StructSerializable; -import java.util.Objects; /** * A exponential curve-shaped velocity profile. diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java b/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java index 9702c2e7c3..09648e158a 100644 --- a/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java +++ b/wpimath/src/main/java/org/wpilib/math/trajectory/Trajectory.java @@ -5,16 +5,16 @@ package org.wpilib.math.trajectory; import com.fasterxml.jackson.annotation.JsonProperty; -import org.wpilib.math.util.MathUtil; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.geometry.Transform2d; -import org.wpilib.math.trajectory.proto.TrajectoryProto; -import org.wpilib.math.trajectory.proto.TrajectoryStateProto; -import org.wpilib.util.protobuf.ProtobufSerializable; import java.util.ArrayList; import java.util.List; import java.util.Objects; import java.util.stream.Collectors; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Transform2d; +import org.wpilib.math.trajectory.proto.TrajectoryProto; +import org.wpilib.math.trajectory.proto.TrajectoryStateProto; +import org.wpilib.math.util.MathUtil; +import org.wpilib.util.protobuf.ProtobufSerializable; /** * Represents a time-parameterized trajectory. The trajectory contains of various States that diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryConfig.java b/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryConfig.java index 8348da8787..547deb4862 100644 --- a/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryConfig.java +++ b/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryConfig.java @@ -7,6 +7,8 @@ package org.wpilib.math.trajectory; import static org.wpilib.units.Units.MetersPerSecond; import static org.wpilib.units.Units.MetersPerSecondPerSecond; +import java.util.ArrayList; +import java.util.List; import org.wpilib.math.kinematics.DifferentialDriveKinematics; import org.wpilib.math.kinematics.MecanumDriveKinematics; import org.wpilib.math.kinematics.SwerveDriveKinematics; @@ -16,8 +18,6 @@ import org.wpilib.math.trajectory.constraint.SwerveDriveKinematicsConstraint; import org.wpilib.math.trajectory.constraint.TrajectoryConstraint; import org.wpilib.units.measure.LinearAcceleration; import org.wpilib.units.measure.LinearVelocity; -import java.util.ArrayList; -import java.util.List; /** * Represents the configuration for generating a trajectory. This class stores the start velocity, diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryGenerator.java b/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryGenerator.java index 40d2da4007..1ead2b6b29 100644 --- a/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryGenerator.java +++ b/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryGenerator.java @@ -4,7 +4,10 @@ package org.wpilib.math.trajectory; -import org.wpilib.math.util.MathSharedStore; +import java.util.ArrayList; +import java.util.Collection; +import java.util.List; +import java.util.function.BiConsumer; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Transform2d; @@ -14,10 +17,7 @@ import org.wpilib.math.spline.Spline; import org.wpilib.math.spline.SplineHelper; import org.wpilib.math.spline.SplineParameterizer; import org.wpilib.math.spline.SplineParameterizer.MalformedSplineException; -import java.util.ArrayList; -import java.util.Collection; -import java.util.List; -import java.util.function.BiConsumer; +import org.wpilib.math.util.MathSharedStore; /** Helper class used to generate trajectories with various constraints. */ public final class TrajectoryGenerator { diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryParameterizer.java b/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryParameterizer.java index f3877bd37e..48a36870cd 100644 --- a/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryParameterizer.java +++ b/wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryParameterizer.java @@ -28,10 +28,10 @@ package org.wpilib.math.trajectory; -import org.wpilib.math.spline.PoseWithCurvature; -import org.wpilib.math.trajectory.constraint.TrajectoryConstraint; import java.util.ArrayList; import java.util.List; +import org.wpilib.math.spline.PoseWithCurvature; +import org.wpilib.math.trajectory.constraint.TrajectoryConstraint; /** Class used to parameterize a trajectory by time. */ public final class TrajectoryParameterizer { diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/org/wpilib/math/trajectory/TrapezoidProfile.java index 822f57734a..ee265b78e9 100644 --- a/wpimath/src/main/java/org/wpilib/math/trajectory/TrapezoidProfile.java +++ b/wpimath/src/main/java/org/wpilib/math/trajectory/TrapezoidProfile.java @@ -4,9 +4,9 @@ package org.wpilib.math.trajectory; -import org.wpilib.math.util.MathSharedStore; -import org.wpilib.math.trajectory.struct.TrapezoidProfileStateStruct; import java.util.Objects; +import org.wpilib.math.trajectory.struct.TrapezoidProfileStateStruct; +import org.wpilib.math.util.MathSharedStore; /** * A trapezoid-shaped velocity profile. diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/proto/TrajectoryProto.java b/wpimath/src/main/java/org/wpilib/math/trajectory/proto/TrajectoryProto.java index e74874dc60..6db57493f8 100644 --- a/wpimath/src/main/java/org/wpilib/math/trajectory/proto/TrajectoryProto.java +++ b/wpimath/src/main/java/org/wpilib/math/trajectory/proto/TrajectoryProto.java @@ -4,11 +4,11 @@ package org.wpilib.math.trajectory.proto; +import java.util.ArrayList; import org.wpilib.math.proto.Trajectory.ProtobufTrajectory; import org.wpilib.math.proto.Trajectory.ProtobufTrajectoryState; import org.wpilib.math.trajectory.Trajectory; import org.wpilib.util.protobuf.Protobuf; -import java.util.ArrayList; import us.hebi.quickbuf.Descriptors.Descriptor; public class TrajectoryProto implements Protobuf { diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/struct/ExponentialProfileStateStruct.java b/wpimath/src/main/java/org/wpilib/math/trajectory/struct/ExponentialProfileStateStruct.java index 63962ab6d7..4ddb33b092 100644 --- a/wpimath/src/main/java/org/wpilib/math/trajectory/struct/ExponentialProfileStateStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/trajectory/struct/ExponentialProfileStateStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.trajectory.struct; +import java.nio.ByteBuffer; import org.wpilib.math.trajectory.ExponentialProfile; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class ExponentialProfileStateStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/trajectory/struct/TrapezoidProfileStateStruct.java b/wpimath/src/main/java/org/wpilib/math/trajectory/struct/TrapezoidProfileStateStruct.java index 83c1154fdb..9640ad5cfb 100644 --- a/wpimath/src/main/java/org/wpilib/math/trajectory/struct/TrapezoidProfileStateStruct.java +++ b/wpimath/src/main/java/org/wpilib/math/trajectory/struct/TrapezoidProfileStateStruct.java @@ -4,9 +4,9 @@ package org.wpilib.math.trajectory.struct; +import java.nio.ByteBuffer; import org.wpilib.math.trajectory.TrapezoidProfile; import org.wpilib.util.struct.Struct; -import java.nio.ByteBuffer; public class TrapezoidProfileStateStruct implements Struct { @Override diff --git a/wpimath/src/main/java/org/wpilib/math/util/StateSpaceUtil.java b/wpimath/src/main/java/org/wpilib/math/util/StateSpaceUtil.java index 3209c0e6dc..78d9f12900 100644 --- a/wpimath/src/main/java/org/wpilib/math/util/StateSpaceUtil.java +++ b/wpimath/src/main/java/org/wpilib/math/util/StateSpaceUtil.java @@ -4,6 +4,8 @@ package org.wpilib.math.util; +import java.util.Random; +import org.ejml.simple.SimpleMatrix; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.jni.StateSpaceUtilJNI; import org.wpilib.math.linalg.Matrix; @@ -11,8 +13,6 @@ import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N3; import org.wpilib.math.numbers.N4; -import java.util.Random; -import org.ejml.simple.SimpleMatrix; /** State-space utilities. */ public final class StateSpaceUtil { diff --git a/wpimath/src/test/java/org/wpilib/ProtoTestBase.java b/wpimath/src/test/java/org/wpilib/ProtoTestBase.java index 4171a01b5e..eae452457a 100644 --- a/wpimath/src/test/java/org/wpilib/ProtoTestBase.java +++ b/wpimath/src/test/java/org/wpilib/ProtoTestBase.java @@ -4,8 +4,8 @@ package org.wpilib; -import org.wpilib.util.protobuf.Protobuf; import org.junit.jupiter.api.Test; +import org.wpilib.util.protobuf.Protobuf; import us.hebi.quickbuf.ProtoMessage; public abstract class ProtoTestBase> { diff --git a/wpimath/src/test/java/org/wpilib/StructTestBase.java b/wpimath/src/test/java/org/wpilib/StructTestBase.java index d56a393309..c5cca5d48e 100644 --- a/wpimath/src/test/java/org/wpilib/StructTestBase.java +++ b/wpimath/src/test/java/org/wpilib/StructTestBase.java @@ -4,10 +4,10 @@ package org.wpilib; -import org.wpilib.util.struct.Struct; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.util.struct.Struct; public abstract class StructTestBase { private final T m_testData; diff --git a/wpimath/src/test/java/org/wpilib/math/controller/ArmFeedforwardTest.java b/wpimath/src/test/java/org/wpilib/math/controller/ArmFeedforwardTest.java index c524a1ec2b..67b007e162 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/ArmFeedforwardTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/ArmFeedforwardTest.java @@ -8,14 +8,14 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; +import java.util.function.BiFunction; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.NumericalIntegration; -import java.util.function.BiFunction; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class ArmFeedforwardTest { /** diff --git a/wpimath/src/test/java/org/wpilib/math/controller/ControlAffinePlantInversionFeedforwardTest.java b/wpimath/src/test/java/org/wpilib/math/controller/ControlAffinePlantInversionFeedforwardTest.java index 5fb8147cce..faf70e842d 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/ControlAffinePlantInversionFeedforwardTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/ControlAffinePlantInversionFeedforwardTest.java @@ -6,13 +6,13 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class ControlAffinePlantInversionFeedforwardTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveAccelerationLimiterTest.java b/wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveAccelerationLimiterTest.java index 5fc6c80362..fc120cff91 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveAccelerationLimiterTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveAccelerationLimiterTest.java @@ -9,12 +9,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.Matrix; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.plant.LinearSystemId; -import org.junit.jupiter.api.Test; class DifferentialDriveAccelerationLimiterTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveFeedforwardTest.java b/wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveFeedforwardTest.java index dbd7a873fb..130d8bc88d 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveFeedforwardTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/DifferentialDriveFeedforwardTest.java @@ -6,13 +6,13 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.Matrix; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; import org.wpilib.math.system.plant.LinearSystemId; -import org.junit.jupiter.api.Test; class DifferentialDriveFeedforwardTest { private static final double kVLinear = 1.0; diff --git a/wpimath/src/test/java/org/wpilib/math/controller/ElevatorFeedforwardTest.java b/wpimath/src/test/java/org/wpilib/math/controller/ElevatorFeedforwardTest.java index 134b262e2b..56bbcbfa1b 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/ElevatorFeedforwardTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/ElevatorFeedforwardTest.java @@ -8,11 +8,11 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class ElevatorFeedforwardTest { private static final double ks = 0.5; diff --git a/wpimath/src/test/java/org/wpilib/math/controller/ImplicitModelFollowerTest.java b/wpimath/src/test/java/org/wpilib/math/controller/ImplicitModelFollowerTest.java index 8b2255d5a4..7775b1edeb 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/ImplicitModelFollowerTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/ImplicitModelFollowerTest.java @@ -7,12 +7,12 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.Matrix; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.plant.LinearSystemId; -import org.junit.jupiter.api.Test; class ImplicitModelFollowerTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/controller/LTVDifferentialDriveControllerTest.java b/wpimath/src/test/java/org/wpilib/math/controller/LTVDifferentialDriveControllerTest.java index da7f1fc135..c8d22cadf5 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/LTVDifferentialDriveControllerTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/LTVDifferentialDriveControllerTest.java @@ -7,13 +7,13 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.util.MathUtil; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; +import java.util.ArrayList; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N5; @@ -22,8 +22,8 @@ import org.wpilib.math.system.NumericalIntegration; import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.ArrayList; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.MathUtil; +import org.wpilib.math.util.Nat; class LTVDifferentialDriveControllerTest { private static final double kTolerance = 1 / 12.0; diff --git a/wpimath/src/test/java/org/wpilib/math/controller/LTVUnicycleControllerTest.java b/wpimath/src/test/java/org/wpilib/math/controller/LTVUnicycleControllerTest.java index 308a9c2635..cf6fdf14de 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/LTVUnicycleControllerTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/LTVUnicycleControllerTest.java @@ -7,15 +7,15 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.util.MathUtil; -import org.wpilib.math.linalg.VecBuilder; +import java.util.ArrayList; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Twist2d; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.ArrayList; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.MathUtil; class LTVUnicycleControllerTest { private static final double kTolerance = 1 / 12.0; diff --git a/wpimath/src/test/java/org/wpilib/math/controller/LinearPlantInversionFeedforwardTest.java b/wpimath/src/test/java/org/wpilib/math/controller/LinearPlantInversionFeedforwardTest.java index e8122715f1..908066d719 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/LinearPlantInversionFeedforwardTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/LinearPlantInversionFeedforwardTest.java @@ -6,13 +6,13 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class LinearPlantInversionFeedforwardTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/controller/LinearQuadraticRegulatorTest.java b/wpimath/src/test/java/org/wpilib/math/controller/LinearQuadraticRegulatorTest.java index 61c56cc997..94226f735e 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/LinearQuadraticRegulatorTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/LinearQuadraticRegulatorTest.java @@ -6,15 +6,15 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.Num; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.system.Discretization; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.Num; class LinearQuadraticRegulatorTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/controller/LinearSystemLoopTest.java b/wpimath/src/test/java/org/wpilib/math/controller/LinearSystemLoopTest.java index 2a61683c4b..14523a5438 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/LinearSystemLoopTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/LinearSystemLoopTest.java @@ -7,10 +7,11 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; +import java.util.Random; +import org.junit.jupiter.api.Test; import org.wpilib.math.estimator.KalmanFilter; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.system.LinearSystem; @@ -18,8 +19,7 @@ import org.wpilib.math.system.LinearSystemLoop; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.trajectory.TrapezoidProfile; -import java.util.Random; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class LinearSystemLoopTest { private static final double kDt = 0.005; diff --git a/wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDControllerTest.java b/wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDControllerTest.java index 4827dfefcc..c9adb9e79b 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDControllerTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDControllerTest.java @@ -6,8 +6,8 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.trajectory.TrapezoidProfile; import org.junit.jupiter.api.Test; +import org.wpilib.math.trajectory.TrapezoidProfile; class ProfiledPIDControllerTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDInputOutputTest.java b/wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDInputOutputTest.java index e6d56729ac..31d5fd6367 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDInputOutputTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/ProfiledPIDInputOutputTest.java @@ -7,8 +7,8 @@ package org.wpilib.math.controller; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.trajectory.TrapezoidProfile; import org.junit.jupiter.api.Test; +import org.wpilib.math.trajectory.TrapezoidProfile; class ProfiledPIDInputOutputTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/controller/SimpleMotorFeedforwardTest.java b/wpimath/src/test/java/org/wpilib/math/controller/SimpleMotorFeedforwardTest.java index 3ffb7a03e7..515f9860fb 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/SimpleMotorFeedforwardTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/SimpleMotorFeedforwardTest.java @@ -8,11 +8,11 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class SimpleMotorFeedforwardTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/controller/proto/ArmFeedforwardProtoTest.java b/wpimath/src/test/java/org/wpilib/math/controller/proto/ArmFeedforwardProtoTest.java index 0d48295507..2b0b152979 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/proto/ArmFeedforwardProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/proto/ArmFeedforwardProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.controller.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.controller.ArmFeedforward; import org.wpilib.math.proto.Controller.ProtobufArmFeedforward; -import org.junit.jupiter.api.Test; class ArmFeedforwardProtoTest { private static final ArmFeedforward DATA = new ArmFeedforward(0.174, 0.229, 4.4, 4.4); diff --git a/wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveFeedforwardProtoTest.java b/wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveFeedforwardProtoTest.java index 22fafe775f..6a7620e03c 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveFeedforwardProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveFeedforwardProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.controller.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.wpilib.ProtoTestBase; import org.wpilib.math.controller.DifferentialDriveFeedforward; import org.wpilib.math.proto.Controller.ProtobufDifferentialDriveFeedforward; -import org.wpilib.ProtoTestBase; @SuppressWarnings("PMD.TestClassWithoutTestCases") class DifferentialDriveFeedforwardProtoTest diff --git a/wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveWheelVoltagesProtoTest.java b/wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveWheelVoltagesProtoTest.java index 7c0886e011..5759da6156 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveWheelVoltagesProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveWheelVoltagesProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.controller.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.controller.DifferentialDriveWheelVoltages; import org.wpilib.math.proto.Controller.ProtobufDifferentialDriveWheelVoltages; -import org.junit.jupiter.api.Test; class DifferentialDriveWheelVoltagesProtoTest { private static final DifferentialDriveWheelVoltages DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/controller/proto/ElevatorFeedforwardProtoTest.java b/wpimath/src/test/java/org/wpilib/math/controller/proto/ElevatorFeedforwardProtoTest.java index 06f731e208..1e2bc3c0bf 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/proto/ElevatorFeedforwardProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/proto/ElevatorFeedforwardProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.controller.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.controller.ElevatorFeedforward; import org.wpilib.math.proto.Controller.ProtobufElevatorFeedforward; -import org.junit.jupiter.api.Test; class ElevatorFeedforwardProtoTest { private static final ElevatorFeedforward DATA = new ElevatorFeedforward(1.91, 1.1, 1.1, 0.229); diff --git a/wpimath/src/test/java/org/wpilib/math/controller/proto/SimpleMotorFeedforwardProtoTest.java b/wpimath/src/test/java/org/wpilib/math/controller/proto/SimpleMotorFeedforwardProtoTest.java index 934ab1d0a0..6920131766 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/proto/SimpleMotorFeedforwardProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/proto/SimpleMotorFeedforwardProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.controller.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.wpilib.ProtoTestBase; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.proto.Controller.ProtobufSimpleMotorFeedforward; -import org.wpilib.ProtoTestBase; @SuppressWarnings("PMD.TestClassWithoutTestCases") class SimpleMotorFeedforwardProtoTest diff --git a/wpimath/src/test/java/org/wpilib/math/controller/struct/ArmFeedforwardStructTest.java b/wpimath/src/test/java/org/wpilib/math/controller/struct/ArmFeedforwardStructTest.java index fb38b7b984..414cdc4616 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/struct/ArmFeedforwardStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/struct/ArmFeedforwardStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.controller.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.controller.ArmFeedforward; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.controller.ArmFeedforward; class ArmFeedforwardStructTest { private static final ArmFeedforward DATA = new ArmFeedforward(0.174, 0.229, 4.4, 4.4); diff --git a/wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStructTest.java b/wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStructTest.java index f342c03f0b..1d95b5405b 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStructTest.java @@ -6,8 +6,8 @@ package org.wpilib.math.controller.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.controller.DifferentialDriveFeedforward; import org.wpilib.StructTestBase; +import org.wpilib.math.controller.DifferentialDriveFeedforward; @SuppressWarnings("PMD.TestClassWithoutTestCases") class DifferentialDriveFeedforwardStructTest extends StructTestBase { diff --git a/wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveWheelVoltagesStructTest.java b/wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveWheelVoltagesStructTest.java index 8354f3f978..05243606df 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveWheelVoltagesStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveWheelVoltagesStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.controller.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.controller.DifferentialDriveWheelVoltages; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.controller.DifferentialDriveWheelVoltages; class DifferentialDriveWheelVoltagesStructTest { private static final DifferentialDriveWheelVoltages DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/controller/struct/ElevatorFeedforwardStructTest.java b/wpimath/src/test/java/org/wpilib/math/controller/struct/ElevatorFeedforwardStructTest.java index f4db99ea29..806a7c58ea 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/struct/ElevatorFeedforwardStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/struct/ElevatorFeedforwardStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.controller.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.controller.ElevatorFeedforward; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.controller.ElevatorFeedforward; class ElevatorFeedforwardStructTest { private static final ElevatorFeedforward DATA = new ElevatorFeedforward(1.91, 1.1, 1.1, 0.229); diff --git a/wpimath/src/test/java/org/wpilib/math/controller/struct/SimpleMotorFeedforwardStructTest.java b/wpimath/src/test/java/org/wpilib/math/controller/struct/SimpleMotorFeedforwardStructTest.java index d8f0b4d4cd..fdb3dc5916 100644 --- a/wpimath/src/test/java/org/wpilib/math/controller/struct/SimpleMotorFeedforwardStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/controller/struct/SimpleMotorFeedforwardStructTest.java @@ -6,8 +6,8 @@ package org.wpilib.math.controller.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.StructTestBase; +import org.wpilib.math.controller.SimpleMotorFeedforward; @SuppressWarnings("PMD.TestClassWithoutTestCases") class SimpleMotorFeedforwardStructTest extends StructTestBase { diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/AngleStatisticsTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/AngleStatisticsTest.java index 5c92c5e857..94eb3819dd 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/AngleStatisticsTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/AngleStatisticsTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.estimator; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class AngleStatisticsTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator3dTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator3dTest.java index 4357fddac6..127c936eaf 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimator3dTest.java @@ -8,7 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.VecBuilder; +import java.util.List; +import java.util.Optional; +import java.util.Random; +import java.util.TreeMap; +import java.util.function.Function; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; @@ -18,15 +23,10 @@ import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.DifferentialDriveKinematics; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.trajectory.Trajectory; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.List; -import java.util.Optional; -import java.util.Random; -import java.util.TreeMap; -import java.util.function.Function; -import org.junit.jupiter.api.Test; class DifferentialDrivePoseEstimator3dTest { private static final double kEpsilon = 1e-9; diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimatorTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimatorTest.java index 15b92bd1d4..3434798de0 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/DifferentialDrivePoseEstimatorTest.java @@ -8,22 +8,22 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.VecBuilder; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.geometry.Rotation2d; -import org.wpilib.math.geometry.Transform2d; -import org.wpilib.math.geometry.Translation2d; -import org.wpilib.math.kinematics.ChassisSpeeds; -import org.wpilib.math.kinematics.DifferentialDriveKinematics; -import org.wpilib.math.trajectory.Trajectory; -import org.wpilib.math.trajectory.TrajectoryConfig; -import org.wpilib.math.trajectory.TrajectoryGenerator; import java.util.List; import java.util.Optional; import java.util.Random; import java.util.TreeMap; import java.util.function.Function; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Transform2d; +import org.wpilib.math.geometry.Translation2d; +import org.wpilib.math.kinematics.ChassisSpeeds; +import org.wpilib.math.kinematics.DifferentialDriveKinematics; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.trajectory.Trajectory; +import org.wpilib.math.trajectory.TrajectoryConfig; +import org.wpilib.math.trajectory.TrajectoryGenerator; class DifferentialDrivePoseEstimatorTest { private static final double kEpsilon = 1e-9; diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/ExtendedKalmanFilterTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/ExtendedKalmanFilterTest.java index c8cbdef3c0..ecf433653b 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/ExtendedKalmanFilterTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/ExtendedKalmanFilterTest.java @@ -7,12 +7,12 @@ package org.wpilib.math.estimator; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.StateSpaceUtil; -import org.wpilib.math.linalg.VecBuilder; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; @@ -22,8 +22,8 @@ import org.wpilib.math.system.NumericalJacobian; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.List; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.StateSpaceUtil; class ExtendedKalmanFilterTest { private static Matrix getDynamics(final Matrix x, final Matrix u) { diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/KalmanFilterTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/KalmanFilterTest.java index e573addc9b..d76ed156f0 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/KalmanFilterTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/KalmanFilterTest.java @@ -7,12 +7,14 @@ package org.wpilib.math.estimator; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; +import java.util.List; +import java.util.Random; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; @@ -22,9 +24,7 @@ import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.List; -import java.util.Random; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class KalmanFilterTest { private static LinearSystem elevatorPlant; diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator3dTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator3dTest.java index c25f33d21e..8ed3d0b49f 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimator3dTest.java @@ -8,7 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.VecBuilder; +import java.util.List; +import java.util.Optional; +import java.util.Random; +import java.util.TreeMap; +import java.util.function.Function; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; @@ -19,15 +24,10 @@ import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.MecanumDriveKinematics; import org.wpilib.math.kinematics.MecanumDriveWheelPositions; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.trajectory.Trajectory; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.List; -import java.util.Optional; -import java.util.Random; -import java.util.TreeMap; -import java.util.function.Function; -import org.junit.jupiter.api.Test; class MecanumDrivePoseEstimator3dTest { private static final double kEpsilon = 1e-9; diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimatorTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimatorTest.java index 240f6b9cac..6261a40fcf 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/MecanumDrivePoseEstimatorTest.java @@ -8,7 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.VecBuilder; +import java.util.List; +import java.util.Optional; +import java.util.Random; +import java.util.TreeMap; +import java.util.function.Function; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Transform2d; @@ -16,15 +21,10 @@ import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.MecanumDriveKinematics; import org.wpilib.math.kinematics.MecanumDriveWheelPositions; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.trajectory.Trajectory; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.List; -import java.util.Optional; -import java.util.Random; -import java.util.TreeMap; -import java.util.function.Function; -import org.junit.jupiter.api.Test; class MecanumDrivePoseEstimatorTest { private static final double kEpsilon = 1e-9; diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/MerweScaledSigmaPointsTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/MerweScaledSigmaPointsTest.java index 09c3e5e48b..bfecc31b03 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/MerweScaledSigmaPointsTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/MerweScaledSigmaPointsTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.estimator; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.util.Nat; -import org.wpilib.math.linalg.VecBuilder; import org.junit.jupiter.api.Test; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.util.Nat; class MerweScaledSigmaPointsTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/MerweUKFTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/MerweUKFTest.java index 1dbdbd48e6..ed83da53e4 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/MerweUKFTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/MerweUKFTest.java @@ -8,13 +8,15 @@ import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.StateSpaceUtil; -import org.wpilib.math.linalg.VecBuilder; +import java.util.ArrayList; +import java.util.Collections; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; @@ -27,10 +29,8 @@ import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.ArrayList; -import java.util.Collections; -import java.util.List; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.StateSpaceUtil; class MerweUKFTest { private static Matrix driveDynamics(Matrix x, Matrix u) { diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/S3SigmaPointsTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/S3SigmaPointsTest.java index 86a4985d7f..d9a2f6c2f6 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/S3SigmaPointsTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/S3SigmaPointsTest.java @@ -8,13 +8,13 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.linalg.Vector; import org.wpilib.math.numbers.N2; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class S3SigmaPointsTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/S3UKFTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/S3UKFTest.java index f0d5d93a17..dbbf9271f2 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/S3UKFTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/S3UKFTest.java @@ -8,13 +8,15 @@ import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; -import org.wpilib.math.util.StateSpaceUtil; -import org.wpilib.math.linalg.VecBuilder; +import java.util.ArrayList; +import java.util.Collections; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.linalg.MatBuilder; +import org.wpilib.math.linalg.Matrix; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; @@ -27,10 +29,8 @@ import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.ArrayList; -import java.util.Collections; -import java.util.List; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; +import org.wpilib.math.util.StateSpaceUtil; class S3UKFTest { private static Matrix driveDynamics(Matrix x, Matrix u) { diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator3dTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator3dTest.java index 71e03e6177..f77e77612e 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimator3dTest.java @@ -8,7 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.VecBuilder; +import java.util.List; +import java.util.Optional; +import java.util.Random; +import java.util.TreeMap; +import java.util.function.Function; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; @@ -19,15 +24,10 @@ import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.SwerveDriveKinematics; import org.wpilib.math.kinematics.SwerveModulePosition; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.trajectory.Trajectory; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.List; -import java.util.Optional; -import java.util.Random; -import java.util.TreeMap; -import java.util.function.Function; -import org.junit.jupiter.api.Test; class SwerveDrivePoseEstimator3dTest { private static final double kEpsilon = 1e-9; diff --git a/wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimatorTest.java b/wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimatorTest.java index cea2510080..39275c5c11 100644 --- a/wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/org/wpilib/math/estimator/SwerveDrivePoseEstimatorTest.java @@ -8,7 +8,12 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.linalg.VecBuilder; +import java.util.List; +import java.util.Optional; +import java.util.Random; +import java.util.TreeMap; +import java.util.function.Function; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Transform2d; @@ -16,15 +21,10 @@ import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.SwerveDriveKinematics; import org.wpilib.math.kinematics.SwerveModulePosition; +import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.trajectory.Trajectory; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.List; -import java.util.Optional; -import java.util.Random; -import java.util.TreeMap; -import java.util.function.Function; -import org.junit.jupiter.api.Test; class SwerveDrivePoseEstimatorTest { private static final double kEpsilon = 1e-9; diff --git a/wpimath/src/test/java/org/wpilib/math/filter/DebouncerTest.java b/wpimath/src/test/java/org/wpilib/math/filter/DebouncerTest.java index a13ec9dda0..33c4511c4b 100644 --- a/wpimath/src/test/java/org/wpilib/math/filter/DebouncerTest.java +++ b/wpimath/src/test/java/org/wpilib/math/filter/DebouncerTest.java @@ -9,10 +9,10 @@ import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertSame; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.util.WPIUtilJNI; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.util.WPIUtilJNI; class DebouncerTest { @BeforeEach diff --git a/wpimath/src/test/java/org/wpilib/math/filter/SlewRateLimiterTest.java b/wpimath/src/test/java/org/wpilib/math/filter/SlewRateLimiterTest.java index cf2615a336..72495df314 100644 --- a/wpimath/src/test/java/org/wpilib/math/filter/SlewRateLimiterTest.java +++ b/wpimath/src/test/java/org/wpilib/math/filter/SlewRateLimiterTest.java @@ -7,10 +7,10 @@ package org.wpilib.math.filter; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.util.WPIUtilJNI; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; +import org.wpilib.util.WPIUtilJNI; class SlewRateLimiterTest { @BeforeEach diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java index 5680f3cf19..5769cbb2dd 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java @@ -6,8 +6,8 @@ package org.wpilib.math.geometry; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.util.Units; import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Units; class CoordinateSystemTest { private void checkPose3dConvert( diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Pose2dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Pose2dTest.java index b810ba31be..6dc80d6dd2 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Pose2dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Pose2dTest.java @@ -8,9 +8,9 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; -import org.wpilib.units.Units; import java.util.List; import org.junit.jupiter.api.Test; +import org.wpilib.units.Units; class Pose2dTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Pose3dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Pose3dTest.java index 7788f9d6e5..860cbc66bf 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Pose3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Pose3dTest.java @@ -9,10 +9,10 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertNotEquals; -import org.wpilib.math.linalg.VecBuilder; -import org.wpilib.math.util.Units; import java.util.List; import org.junit.jupiter.api.Test; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.util.Units; class Pose3dTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/QuaternionTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/QuaternionTest.java index 7e9b953563..31325dbfa8 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/QuaternionTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/QuaternionTest.java @@ -8,8 +8,8 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; -import org.wpilib.math.util.Units; import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Units; class QuaternionTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Rotation2dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Rotation2dTest.java index cfe0afadf5..3214300e8c 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Rotation2dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Rotation2dTest.java @@ -8,8 +8,8 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; -import org.wpilib.units.Units; import org.junit.jupiter.api.Test; +import org.wpilib.units.Units; class Rotation2dTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Rotation3dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Rotation3dTest.java index 03bea21c0d..54385ecce5 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Rotation3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Rotation3dTest.java @@ -9,12 +9,12 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; import static org.junit.jupiter.api.Assertions.assertThrows; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.util.Nat; import org.wpilib.math.util.Units; -import org.junit.jupiter.api.Test; class Rotation3dTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Transform2dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Transform2dTest.java index 25eef41b36..37207a2d88 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Transform2dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Transform2dTest.java @@ -6,8 +6,8 @@ package org.wpilib.math.geometry; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.units.Units; import org.junit.jupiter.api.Test; +import org.wpilib.units.Units; class Transform2dTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Transform3dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Transform3dTest.java index fcee244f96..8405be09d8 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Transform3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Transform3dTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.geometry; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.util.Units; -import org.junit.jupiter.api.Test; class Transform3dTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Translation2dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Translation2dTest.java index dcafa1f3d2..66bf366ddd 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Translation2dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Translation2dTest.java @@ -8,9 +8,9 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; -import org.wpilib.math.linalg.VecBuilder; import java.util.List; import org.junit.jupiter.api.Test; +import org.wpilib.math.linalg.VecBuilder; class Translation2dTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Translation3dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Translation3dTest.java index 1f643335a8..c2a525aa73 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Translation3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Translation3dTest.java @@ -4,15 +4,15 @@ package org.wpilib.math.geometry; -import static org.wpilib.units.Units.Inches; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; +import static org.wpilib.units.Units.Inches; -import org.wpilib.math.linalg.VecBuilder; -import org.wpilib.math.util.Units; import java.util.List; import org.junit.jupiter.api.Test; +import org.wpilib.math.linalg.VecBuilder; +import org.wpilib.math.util.Units; class Translation3dTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java index 4498c2f872..e271b65cb7 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/Twist3dTest.java @@ -7,9 +7,9 @@ package org.wpilib.math.geometry; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.util.Units; -import org.junit.jupiter.api.Test; class Twist3dTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Ellipse2dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Ellipse2dProtoTest.java index 80a0859ac8..b4b0378404 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Ellipse2dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Ellipse2dProtoTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Ellipse2d; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.proto.Geometry2D.ProtobufEllipse2d; -import org.junit.jupiter.api.Test; class Ellipse2dProtoTest { private static final Ellipse2d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose2dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose2dProtoTest.java index 0e2b74c6ce..5e800f2c8e 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose2dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose2dProtoTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.proto.Geometry2D.ProtobufPose2d; -import org.junit.jupiter.api.Test; class Pose2dProtoTest { private static final Pose2d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose3dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose3dProtoTest.java index 063f1111aa..56d00d9930 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose3dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Pose3dProtoTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Quaternion; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.proto.Geometry3D.ProtobufPose3d; -import org.junit.jupiter.api.Test; class Pose3dProtoTest { private static final Pose3d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/QuaternionProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/QuaternionProtoTest.java index b0d6768452..161d5bfe7b 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/QuaternionProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/QuaternionProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Quaternion; import org.wpilib.math.proto.Geometry3D.ProtobufQuaternion; -import org.junit.jupiter.api.Test; class QuaternionProtoTest { private static final Quaternion DATA = new Quaternion(1.1, 0.191, 35.04, 19.1); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rectangle2dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rectangle2dProtoTest.java index f3d9ebbc65..6ad6069be5 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rectangle2dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rectangle2dProtoTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rectangle2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.proto.Geometry2D.ProtobufRectangle2d; -import org.junit.jupiter.api.Test; class Rectangle2dProtoTest { private static final Rectangle2d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation2dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation2dProtoTest.java index 75a93596ca..609011afbb 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation2dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation2dProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.proto.Geometry2D.ProtobufRotation2d; -import org.junit.jupiter.api.Test; class Rotation2dProtoTest { private static final Rotation2d DATA = new Rotation2d(1.91); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation3dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation3dProtoTest.java index 406728e4f4..640c4c4e25 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation3dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Rotation3dProtoTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Quaternion; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.proto.Geometry3D.ProtobufRotation3d; -import org.junit.jupiter.api.Test; class Rotation3dProtoTest { private static final Rotation3d DATA = new Rotation3d(new Quaternion(2.29, 0.191, 0.191, 17.4)); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform2dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform2dProtoTest.java index 1ed0b19052..cbee91d157 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform2dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform2dProtoTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Transform2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.proto.Geometry2D.ProtobufTransform2d; -import org.junit.jupiter.api.Test; class Transform2dProtoTest { private static final Transform2d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform3dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform3dProtoTest.java index 3ec1adacf1..1b3ac8ab13 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform3dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Transform3dProtoTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Quaternion; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Transform3d; import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.proto.Geometry3D.ProtobufTransform3d; -import org.junit.jupiter.api.Test; class Transform3dProtoTest { private static final Transform3d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation2dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation2dProtoTest.java index 3b55742dd5..31a79997a3 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation2dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation2dProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.proto.Geometry2D.ProtobufTranslation2d; -import org.junit.jupiter.api.Test; class Translation2dProtoTest { private static final Translation2d DATA = new Translation2d(3.504, 22.9); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation3dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation3dProtoTest.java index f612b87d3c..2dc7cb20c6 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation3dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Translation3dProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.proto.Geometry3D.ProtobufTranslation3d; -import org.junit.jupiter.api.Test; class Translation3dProtoTest { private static final Translation3d DATA = new Translation3d(35.04, 22.9, 3.504); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist2dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist2dProtoTest.java index f9c6411df7..50a91c0ec9 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist2dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist2dProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Twist2d; import org.wpilib.math.proto.Geometry2D.ProtobufTwist2d; -import org.junit.jupiter.api.Test; class Twist2dProtoTest { private static final Twist2d DATA = new Twist2d(2.29, 35.04, 35.04); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist3dProtoTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist3dProtoTest.java index 9fe888aebd..95f7474c43 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist3dProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/proto/Twist3dProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.geometry.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Twist3d; import org.wpilib.math.proto.Geometry3D.ProtobufTwist3d; -import org.junit.jupiter.api.Test; class Twist3dProtoTest { private static final Twist3d DATA = new Twist3d(1.1, 2.29, 35.04, 0.174, 19.1, 4.4); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Ellipse2dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Ellipse2dStructTest.java index c838b52a32..5f88f4d772 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Ellipse2dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Ellipse2dStructTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Ellipse2d; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.geometry.Rotation2d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Ellipse2d; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; class Ellipse2dStructTest { private static final Ellipse2d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose2dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose2dStructTest.java index e2c38c5801..87378d2721 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose2dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose2dStructTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.geometry.Rotation2d; -import org.wpilib.math.geometry.Translation2d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Translation2d; class Pose2dStructTest { private static final Pose2d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose3dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose3dStructTest.java index 4a04cc9f3c..df5415f624 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose3dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Pose3dStructTest.java @@ -6,13 +6,13 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.nio.ByteBuffer; +import java.nio.ByteOrder; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Quaternion; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Translation3d; -import java.nio.ByteBuffer; -import java.nio.ByteOrder; -import org.junit.jupiter.api.Test; class Pose3dStructTest { private static final Pose3d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/QuaternionStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/QuaternionStructTest.java index 1a2c411960..028040ae71 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/QuaternionStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/QuaternionStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Quaternion; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Quaternion; class QuaternionStructTest { private static final Quaternion DATA = new Quaternion(1.1, 0.191, 35.04, 19.1); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rectangle2dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rectangle2dStructTest.java index f3620a2820..7326e45b46 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rectangle2dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rectangle2dStructTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.geometry.Rectangle2d; -import org.wpilib.math.geometry.Rotation2d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rectangle2d; +import org.wpilib.math.geometry.Rotation2d; class Rectangle2dStructTest { private static final Rectangle2d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation2dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation2dStructTest.java index 7024b187f2..970626d952 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation2dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation2dStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Rotation2d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Rotation2d; class Rotation2dStructTest { private static final Rotation2d DATA = new Rotation2d(1.91); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation3dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation3dStructTest.java index 98af9d709e..35287cd133 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation3dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Rotation3dStructTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Quaternion; -import org.wpilib.math.geometry.Rotation3d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Quaternion; +import org.wpilib.math.geometry.Rotation3d; class Rotation3dStructTest { private static final Rotation3d DATA = new Rotation3d(new Quaternion(2.29, 0.191, 0.191, 17.4)); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform2dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform2dStructTest.java index 437203c147..7d1765c83b 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform2dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform2dStructTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Rotation2d; -import org.wpilib.math.geometry.Transform2d; -import org.wpilib.math.geometry.Translation2d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.geometry.Transform2d; +import org.wpilib.math.geometry.Translation2d; class Transform2dStructTest { private static final Transform2d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform3dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform3dStructTest.java index 10af1ea883..e0a72dc8fd 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform3dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Transform3dStructTest.java @@ -6,13 +6,13 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.nio.ByteBuffer; +import java.nio.ByteOrder; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Quaternion; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Transform3d; import org.wpilib.math.geometry.Translation3d; -import java.nio.ByteBuffer; -import java.nio.ByteOrder; -import org.junit.jupiter.api.Test; class Transform3dStructTest { private static final Transform3d DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation2dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation2dStructTest.java index 71d1c0baef..cdcadfc6e2 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation2dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation2dStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Translation2d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Translation2d; class Translation2dStructTest { private static final Translation2d DATA = new Translation2d(3.504, 22.9); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation3dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation3dStructTest.java index f73836aeb6..05e46ee141 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation3dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Translation3dStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Translation3d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Translation3d; class Translation3dStructTest { private static final Translation3d DATA = new Translation3d(35.04, 22.9, 3.504); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist2dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist2dStructTest.java index 0897c9358c..3f03fc45ab 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist2dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist2dStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Twist2d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Twist2d; class Twist2dStructTest { private static final Twist2d DATA = new Twist2d(2.29, 35.04, 35.04); diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist3dStructTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist3dStructTest.java index eb7a6e11f4..f0531b888f 100644 --- a/wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist3dStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/geometry/struct/Twist3dStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.geometry.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Twist3d; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Twist3d; class Twist3dStructTest { private static final Twist3d DATA = new Twist3d(1.1, 2.29, 35.04, 0.174, 19.1, 4.4); diff --git a/wpimath/src/test/java/org/wpilib/math/interpolation/TimeInterpolatableBufferTest.java b/wpimath/src/test/java/org/wpilib/math/interpolation/TimeInterpolatableBufferTest.java index b80165f6d5..e447473f2b 100644 --- a/wpimath/src/test/java/org/wpilib/math/interpolation/TimeInterpolatableBufferTest.java +++ b/wpimath/src/test/java/org/wpilib/math/interpolation/TimeInterpolatableBufferTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.interpolation; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; -import org.junit.jupiter.api.Test; class TimeInterpolatableBufferTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/ChassisSpeedsTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/ChassisSpeedsTest.java index 1fc1706506..f5424da79d 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/ChassisSpeedsTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/ChassisSpeedsTest.java @@ -4,15 +4,15 @@ package org.wpilib.math.kinematics; -import static org.wpilib.units.Units.InchesPerSecond; -import static org.wpilib.units.Units.RPM; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; +import static org.wpilib.units.Units.InchesPerSecond; +import static org.wpilib.units.Units.RPM; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Twist2d; -import org.junit.jupiter.api.Test; class ChassisSpeedsTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/DifferentialDriveOdometry3dTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/DifferentialDriveOdometry3dTest.java index 326b59e0f9..7c319eb7ac 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/DifferentialDriveOdometry3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/DifferentialDriveOdometry3dTest.java @@ -7,10 +7,10 @@ package org.wpilib.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.util.Units; -import org.junit.jupiter.api.Test; class DifferentialDriveOdometry3dTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/DifferentialDriveOdometryTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/DifferentialDriveOdometryTest.java index f6469b596c..f76364f123 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/DifferentialDriveOdometryTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/DifferentialDriveOdometryTest.java @@ -7,9 +7,9 @@ package org.wpilib.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; -import org.junit.jupiter.api.Test; class DifferentialDriveOdometryTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveKinematicsTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveKinematicsTest.java index 742dbfc4d2..6fd7b18a75 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveKinematicsTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveKinematicsTest.java @@ -7,8 +7,8 @@ package org.wpilib.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Translation2d; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Translation2d; class MecanumDriveKinematicsTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveOdometry3dTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveOdometry3dTest.java index 15f7f5c9f8..34b5438c72 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveOdometry3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveOdometry3dTest.java @@ -7,6 +7,9 @@ package org.wpilib.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.util.List; +import java.util.Random; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; @@ -16,9 +19,6 @@ import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; import org.wpilib.math.util.Units; -import java.util.List; -import java.util.Random; -import org.junit.jupiter.api.Test; class MecanumDriveOdometry3dTest { private final Translation2d m_fl = new Translation2d(12, 12); diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveOdometryTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveOdometryTest.java index 058f450194..ffe63098fe 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveOdometryTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/MecanumDriveOdometryTest.java @@ -7,14 +7,14 @@ package org.wpilib.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.util.List; +import java.util.Random; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.List; -import java.util.Random; -import org.junit.jupiter.api.Test; class MecanumDriveOdometryTest { private final Translation2d m_fl = new Translation2d(12, 12); diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveKinematicsTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveKinematicsTest.java index 148420fd89..3f2ba19da0 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveKinematicsTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveKinematicsTest.java @@ -7,9 +7,9 @@ package org.wpilib.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; -import org.junit.jupiter.api.Test; class SwerveDriveKinematicsTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveOdometry3dTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveOdometry3dTest.java index bf7167c61b..b4f30704d9 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveOdometry3dTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveOdometry3dTest.java @@ -7,6 +7,9 @@ package org.wpilib.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.util.List; +import java.util.Random; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation2d; @@ -16,9 +19,6 @@ import org.wpilib.math.geometry.Translation3d; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; import org.wpilib.math.util.Units; -import java.util.List; -import java.util.Random; -import org.junit.jupiter.api.Test; class SwerveDriveOdometry3dTest { private final Translation2d m_fl = new Translation2d(12, 12); diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveOdometryTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveOdometryTest.java index 108c8b6ee8..f50c88a57a 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveOdometryTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveDriveOdometryTest.java @@ -7,14 +7,14 @@ package org.wpilib.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.util.List; +import java.util.Random; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.trajectory.TrajectoryConfig; import org.wpilib.math.trajectory.TrajectoryGenerator; -import java.util.List; -import java.util.Random; -import org.junit.jupiter.api.Test; class SwerveDriveOdometryTest { private final Translation2d m_fl = new Translation2d(12, 12); diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveModuleStateTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveModuleStateTest.java index f31cff298d..6d79a95086 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveModuleStateTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/SwerveModuleStateTest.java @@ -7,8 +7,8 @@ package org.wpilib.math.kinematics; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Rotation2d; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Rotation2d; class SwerveModuleStateTest { private static final double kEpsilon = 1E-9; diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/ChassisSpeedsProtoTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/ChassisSpeedsProtoTest.java index 278c4e174b..6cdd068bad 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/ChassisSpeedsProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/ChassisSpeedsProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.kinematics.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.proto.Kinematics.ProtobufChassisSpeeds; -import org.junit.jupiter.api.Test; class ChassisSpeedsProtoTest { private static final ChassisSpeeds DATA = new ChassisSpeeds(2.29, 2.2, 0.3504); diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/DifferentialDriveKinematicsProtoTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/DifferentialDriveKinematicsProtoTest.java index 3b80e4e321..b359af684c 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/DifferentialDriveKinematicsProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/DifferentialDriveKinematicsProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.kinematics.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.kinematics.DifferentialDriveKinematics; import org.wpilib.math.proto.Kinematics.ProtobufDifferentialDriveKinematics; -import org.junit.jupiter.api.Test; class DifferentialDriveKinematicsProtoTest { private static final DifferentialDriveKinematics DATA = new DifferentialDriveKinematics(1.74); diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.java index 255294e56e..d281e324a1 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.kinematics.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds; import org.wpilib.math.proto.Kinematics.ProtobufDifferentialDriveWheelSpeeds; -import org.junit.jupiter.api.Test; class DifferentialDriveWheelSpeedsProtoTest { private static final DifferentialDriveWheelSpeeds DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveKinematicsProtoTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveKinematicsProtoTest.java index 876cc06a79..0d11918ffa 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveKinematicsProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveKinematicsProtoTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.kinematics.MecanumDriveKinematics; import org.wpilib.math.proto.Kinematics.ProtobufMecanumDriveKinematics; -import org.junit.jupiter.api.Test; class MecanumDriveKinematicsProtoTest { private static final MecanumDriveKinematics DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveWheelPositionsProtoTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveWheelPositionsProtoTest.java index d5bb4c03b1..9342bae23b 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveWheelPositionsProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveWheelPositionsProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.kinematics.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.kinematics.MecanumDriveWheelPositions; import org.wpilib.math.proto.Kinematics.ProtobufMecanumDriveWheelPositions; -import org.junit.jupiter.api.Test; class MecanumDriveWheelPositionsProtoTest { private static final MecanumDriveWheelPositions DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.java index 31edc7dfb6..958338e74f 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.kinematics.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.kinematics.MecanumDriveWheelSpeeds; import org.wpilib.math.proto.Kinematics.ProtobufMecanumDriveWheelSpeeds; -import org.junit.jupiter.api.Test; class MecanumDriveWheelSpeedsProtoTest { private static final MecanumDriveWheelSpeeds DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveDriveKinematicsProtoTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveDriveKinematicsProtoTest.java index ab09d2dcc7..ce8485598a 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveDriveKinematicsProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveDriveKinematicsProtoTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.proto; import static org.junit.jupiter.api.Assertions.assertArrayEquals; +import org.wpilib.ProtoTestBase; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.kinematics.SwerveDriveKinematics; import org.wpilib.math.proto.Kinematics.ProtobufSwerveDriveKinematics; -import org.wpilib.ProtoTestBase; @SuppressWarnings("PMD.TestClassWithoutTestCases") class SwerveDriveKinematicsProtoTest diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveModulePositionProtoTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveModulePositionProtoTest.java index c5648aba5c..ef348817e0 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveModulePositionProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveModulePositionProtoTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.SwerveModulePosition; import org.wpilib.math.proto.Kinematics.ProtobufSwerveModulePosition; -import org.junit.jupiter.api.Test; class SwerveModulePositionProtoTest { private static final SwerveModulePosition DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveModuleStateProtoTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveModuleStateProtoTest.java index 6a34475f74..b0fa3acda5 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveModuleStateProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/proto/SwerveModuleStateProtoTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.SwerveModuleState; import org.wpilib.math.proto.Kinematics.ProtobufSwerveModuleState; -import org.junit.jupiter.api.Test; class SwerveModuleStateProtoTest { private static final SwerveModuleState DATA = new SwerveModuleState(22.9, new Rotation2d(3.3)); diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/ChassisSpeedsStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/ChassisSpeedsStructTest.java index d8338c98ab..a34c9ce921 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/ChassisSpeedsStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/ChassisSpeedsStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.kinematics.ChassisSpeeds; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.kinematics.ChassisSpeeds; class ChassisSpeedsStructTest { private static final ChassisSpeeds DATA = new ChassisSpeeds(2.29, 2.2, 0.3504); diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveKinematicsStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveKinematicsStructTest.java index b0f1977a9b..e2cf7d7951 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveKinematicsStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveKinematicsStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.kinematics.DifferentialDriveKinematics; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.kinematics.DifferentialDriveKinematics; class DifferentialDriveKinematicsStructTest { private static final DifferentialDriveKinematics DATA = new DifferentialDriveKinematics(1.74); diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java index 15c2ea6c32..ee951367f1 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelPositionsStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.kinematics.DifferentialDriveWheelPositions; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.kinematics.DifferentialDriveWheelPositions; class DifferentialDriveWheelPositionsStructTest { private static final DifferentialDriveWheelPositions DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.java index 59a9cfcf48..37fa36efec 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/DifferentialDriveWheelSpeedsStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds; class DifferentialDriveWheelSpeedsStructTest { private static final DifferentialDriveWheelSpeeds DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveKinematicsStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveKinematicsStructTest.java index fd629765ed..7329fe8c2e 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveKinematicsStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveKinematicsStructTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Translation2d; -import org.wpilib.math.kinematics.MecanumDriveKinematics; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Translation2d; +import org.wpilib.math.kinematics.MecanumDriveKinematics; class MecanumDriveKinematicsStructTest { private static final MecanumDriveKinematics DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelPositionsStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelPositionsStructTest.java index a0f568b356..f68974ce88 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelPositionsStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelPositionsStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.kinematics.MecanumDriveWheelPositions; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.kinematics.MecanumDriveWheelPositions; class MecanumDriveWheelPositionsStructTest { private static final MecanumDriveWheelPositions DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelSpeedsStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelSpeedsStructTest.java index e423e9e432..3618147c17 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelSpeedsStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/MecanumDriveWheelSpeedsStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.kinematics.MecanumDriveWheelSpeeds; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.kinematics.MecanumDriveWheelSpeeds; class MecanumDriveWheelSpeedsStructTest { private static final MecanumDriveWheelSpeeds DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveDriveKinematicsStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveDriveKinematicsStructTest.java index c5b218e202..f712309213 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveDriveKinematicsStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveDriveKinematicsStructTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertArrayEquals; +import org.wpilib.StructTestBase; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.kinematics.SwerveDriveKinematics; -import org.wpilib.StructTestBase; @SuppressWarnings("PMD.TestClassWithoutTestCases") class SwerveDriveKinematicsStructTest extends StructTestBase { diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveModulePositionStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveModulePositionStructTest.java index fe0f6f4320..7ce3045633 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveModulePositionStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveModulePositionStructTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Rotation2d; -import org.wpilib.math.kinematics.SwerveModulePosition; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.kinematics.SwerveModulePosition; class SwerveModulePositionStructTest { private static final SwerveModulePosition DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveModuleStateStructTest.java b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveModuleStateStructTest.java index a0b60d0061..4cf64564c9 100644 --- a/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveModuleStateStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/kinematics/struct/SwerveModuleStateStructTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.kinematics.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.geometry.Rotation2d; -import org.wpilib.math.kinematics.SwerveModuleState; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Rotation2d; +import org.wpilib.math.kinematics.SwerveModuleState; class SwerveModuleStateStructTest { private static final SwerveModuleState DATA = new SwerveModuleState(22.9, new Rotation2d(3.3)); diff --git a/wpimath/src/test/java/org/wpilib/math/linalg/DARETest.java b/wpimath/src/test/java/org/wpilib/math/linalg/DARETest.java index 7a2b12b186..f29b7d4eef 100644 --- a/wpimath/src/test/java/org/wpilib/math/linalg/DARETest.java +++ b/wpimath/src/test/java/org/wpilib/math/linalg/DARETest.java @@ -8,9 +8,9 @@ import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; -import org.wpilib.UtilityClassTest; import org.ejml.simple.SimpleMatrix; import org.junit.jupiter.api.Test; +import org.wpilib.UtilityClassTest; import org.wpilib.math.util.Nat; import org.wpilib.math.util.Num; diff --git a/wpimath/src/test/java/org/wpilib/math/linalg/MatrixTest.java b/wpimath/src/test/java/org/wpilib/math/linalg/MatrixTest.java index 7c04c97353..e1b4a12bc3 100644 --- a/wpimath/src/test/java/org/wpilib/math/linalg/MatrixTest.java +++ b/wpimath/src/test/java/org/wpilib/math/linalg/MatrixTest.java @@ -8,13 +8,13 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.ejml.data.SingularMatrixException; +import org.junit.jupiter.api.Test; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; import org.wpilib.math.numbers.N4; import org.wpilib.math.util.Nat; -import org.ejml.data.SingularMatrixException; -import org.junit.jupiter.api.Test; class MatrixTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/linalg/proto/MatrixProtoTest.java b/wpimath/src/test/java/org/wpilib/math/linalg/proto/MatrixProtoTest.java index 245954bf1a..d9b73c8618 100644 --- a/wpimath/src/test/java/org/wpilib/math/linalg/proto/MatrixProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/linalg/proto/MatrixProtoTest.java @@ -6,13 +6,13 @@ package org.wpilib.math.linalg.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.wpilib.ProtoTestBase; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; import org.wpilib.math.proto.Wpimath.ProtobufMatrix; -import org.wpilib.ProtoTestBase; +import org.wpilib.math.util.Nat; @SuppressWarnings("PMD.TestClassWithoutTestCases") class MatrixProtoTest extends ProtoTestBase, ProtobufMatrix> { diff --git a/wpimath/src/test/java/org/wpilib/math/linalg/proto/VectorProtoTest.java b/wpimath/src/test/java/org/wpilib/math/linalg/proto/VectorProtoTest.java index cb45ce70d5..c2344a595e 100644 --- a/wpimath/src/test/java/org/wpilib/math/linalg/proto/VectorProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/linalg/proto/VectorProtoTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.linalg.proto; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.util.Nat; +import org.wpilib.ProtoTestBase; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.linalg.Vector; import org.wpilib.math.numbers.N2; import org.wpilib.math.proto.Wpimath.ProtobufVector; -import org.wpilib.ProtoTestBase; +import org.wpilib.math.util.Nat; @SuppressWarnings("PMD.TestClassWithoutTestCases") class VectorProtoTest extends ProtoTestBase, ProtobufVector> { diff --git a/wpimath/src/test/java/org/wpilib/math/linalg/struct/MatrixStructTest.java b/wpimath/src/test/java/org/wpilib/math/linalg/struct/MatrixStructTest.java index 4b44b2dcfe..dcbf09e998 100644 --- a/wpimath/src/test/java/org/wpilib/math/linalg/struct/MatrixStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/linalg/struct/MatrixStructTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.linalg.struct; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.wpilib.StructTestBase; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; -import org.wpilib.StructTestBase; +import org.wpilib.math.util.Nat; @SuppressWarnings("PMD.TestClassWithoutTestCases") class MatrixStructTest extends StructTestBase> { diff --git a/wpimath/src/test/java/org/wpilib/math/linalg/struct/VectorStructTest.java b/wpimath/src/test/java/org/wpilib/math/linalg/struct/VectorStructTest.java index c155bc9f25..db2b2b7b25 100644 --- a/wpimath/src/test/java/org/wpilib/math/linalg/struct/VectorStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/linalg/struct/VectorStructTest.java @@ -6,11 +6,11 @@ package org.wpilib.math.linalg.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.util.Nat; +import org.wpilib.StructTestBase; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.linalg.Vector; import org.wpilib.math.numbers.N2; -import org.wpilib.StructTestBase; +import org.wpilib.math.util.Nat; @SuppressWarnings("PMD.TestClassWithoutTestCases") class VectorStructTest extends StructTestBase> { diff --git a/wpimath/src/test/java/org/wpilib/math/path/TravelingSalesmanTest.java b/wpimath/src/test/java/org/wpilib/math/path/TravelingSalesmanTest.java index 040e40e857..ae96264f48 100644 --- a/wpimath/src/test/java/org/wpilib/math/path/TravelingSalesmanTest.java +++ b/wpimath/src/test/java/org/wpilib/math/path/TravelingSalesmanTest.java @@ -7,10 +7,10 @@ package org.wpilib.math.path; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.util.container.CircularBuffer; -import org.junit.jupiter.api.Test; class TravelingSalesmanTest { /** diff --git a/wpimath/src/test/java/org/wpilib/math/spline/CubicHermiteSplineTest.java b/wpimath/src/test/java/org/wpilib/math/spline/CubicHermiteSplineTest.java index a35441592d..9b41fb9f34 100644 --- a/wpimath/src/test/java/org/wpilib/math/spline/CubicHermiteSplineTest.java +++ b/wpimath/src/test/java/org/wpilib/math/spline/CubicHermiteSplineTest.java @@ -9,13 +9,13 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.ArrayList; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.spline.SplineParameterizer.MalformedSplineException; -import java.util.ArrayList; -import java.util.List; -import org.junit.jupiter.api.Test; class CubicHermiteSplineTest { private static final double kMaxDx = 0.127; diff --git a/wpimath/src/test/java/org/wpilib/math/spline/QuinticHermiteSplineTest.java b/wpimath/src/test/java/org/wpilib/math/spline/QuinticHermiteSplineTest.java index 138a77ff33..9e8b957a23 100644 --- a/wpimath/src/test/java/org/wpilib/math/spline/QuinticHermiteSplineTest.java +++ b/wpimath/src/test/java/org/wpilib/math/spline/QuinticHermiteSplineTest.java @@ -9,11 +9,11 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.spline.SplineParameterizer.MalformedSplineException; -import java.util.List; -import org.junit.jupiter.api.Test; class QuinticHermiteSplineTest { private static final double kMaxDx = 0.127; diff --git a/wpimath/src/test/java/org/wpilib/math/spline/proto/CubicHermiteSplineProtoTest.java b/wpimath/src/test/java/org/wpilib/math/spline/proto/CubicHermiteSplineProtoTest.java index 7aaad29558..34c411f197 100644 --- a/wpimath/src/test/java/org/wpilib/math/spline/proto/CubicHermiteSplineProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/spline/proto/CubicHermiteSplineProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.spline.proto; import static org.junit.jupiter.api.Assertions.assertArrayEquals; +import org.wpilib.ProtoTestBase; import org.wpilib.math.proto.Spline.ProtobufCubicHermiteSpline; import org.wpilib.math.spline.CubicHermiteSpline; -import org.wpilib.ProtoTestBase; @SuppressWarnings("PMD.TestClassWithoutTestCases") class CubicHermiteSplineProtoTest diff --git a/wpimath/src/test/java/org/wpilib/math/spline/proto/QuinticHermiteSplineProtoTest.java b/wpimath/src/test/java/org/wpilib/math/spline/proto/QuinticHermiteSplineProtoTest.java index f42412d5ae..57475733ab 100644 --- a/wpimath/src/test/java/org/wpilib/math/spline/proto/QuinticHermiteSplineProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/spline/proto/QuinticHermiteSplineProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.spline.proto; import static org.junit.jupiter.api.Assertions.assertArrayEquals; +import org.wpilib.ProtoTestBase; import org.wpilib.math.proto.Spline.ProtobufQuinticHermiteSpline; import org.wpilib.math.spline.QuinticHermiteSpline; -import org.wpilib.ProtoTestBase; @SuppressWarnings("PMD.TestClassWithoutTestCases") class QuinticHermiteSplineProtoTest diff --git a/wpimath/src/test/java/org/wpilib/math/spline/struct/CubicHermiteSplineStructTest.java b/wpimath/src/test/java/org/wpilib/math/spline/struct/CubicHermiteSplineStructTest.java index 13d0ddd880..111d533878 100644 --- a/wpimath/src/test/java/org/wpilib/math/spline/struct/CubicHermiteSplineStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/spline/struct/CubicHermiteSplineStructTest.java @@ -6,8 +6,8 @@ package org.wpilib.math.spline.struct; import static org.junit.jupiter.api.Assertions.assertArrayEquals; -import org.wpilib.math.spline.CubicHermiteSpline; import org.wpilib.StructTestBase; +import org.wpilib.math.spline.CubicHermiteSpline; @SuppressWarnings("PMD.TestClassWithoutTestCases") class CubicHermiteSplineStructTest extends StructTestBase { diff --git a/wpimath/src/test/java/org/wpilib/math/spline/struct/QuinticHermiteSplineStructTest.java b/wpimath/src/test/java/org/wpilib/math/spline/struct/QuinticHermiteSplineStructTest.java index 3279e959b3..8c6a18c91e 100644 --- a/wpimath/src/test/java/org/wpilib/math/spline/struct/QuinticHermiteSplineStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/spline/struct/QuinticHermiteSplineStructTest.java @@ -6,8 +6,8 @@ package org.wpilib.math.spline.struct; import static org.junit.jupiter.api.Assertions.assertArrayEquals; -import org.wpilib.math.spline.QuinticHermiteSpline; import org.wpilib.StructTestBase; +import org.wpilib.math.spline.QuinticHermiteSpline; @SuppressWarnings("PMD.TestClassWithoutTestCases") class QuinticHermiteSplineStructTest extends StructTestBase { diff --git a/wpimath/src/test/java/org/wpilib/math/system/DiscretizationTest.java b/wpimath/src/test/java/org/wpilib/math/system/DiscretizationTest.java index 588bee4b7c..9709e0ccf2 100644 --- a/wpimath/src/test/java/org/wpilib/math/system/DiscretizationTest.java +++ b/wpimath/src/test/java/org/wpilib/math/system/DiscretizationTest.java @@ -7,12 +7,12 @@ package org.wpilib.math.system; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N2; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class DiscretizationTest { // Check that for a simple second-order system that we can easily analyze diff --git a/wpimath/src/test/java/org/wpilib/math/system/LinearSystemIDTest.java b/wpimath/src/test/java/org/wpilib/math/system/LinearSystemIDTest.java index d5518fa779..e3318dfb90 100644 --- a/wpimath/src/test/java/org/wpilib/math/system/LinearSystemIDTest.java +++ b/wpimath/src/test/java/org/wpilib/math/system/LinearSystemIDTest.java @@ -7,13 +7,13 @@ package org.wpilib.math.system; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.system.plant.DCMotor; import org.wpilib.math.system.plant.LinearSystemId; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class LinearSystemIDTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/system/NumericalIntegrationTest.java b/wpimath/src/test/java/org/wpilib/math/system/NumericalIntegrationTest.java index d0ffa4468e..386079f359 100644 --- a/wpimath/src/test/java/org/wpilib/math/system/NumericalIntegrationTest.java +++ b/wpimath/src/test/java/org/wpilib/math/system/NumericalIntegrationTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.system; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.MatBuilder; import org.wpilib.math.linalg.Matrix; -import org.wpilib.math.util.Nat; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; -import org.junit.jupiter.api.Test; +import org.wpilib.math.util.Nat; class NumericalIntegrationTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/system/plant/proto/DCMotorProtoTest.java b/wpimath/src/test/java/org/wpilib/math/system/plant/proto/DCMotorProtoTest.java index 9a016bc89d..d37de07977 100644 --- a/wpimath/src/test/java/org/wpilib/math/system/plant/proto/DCMotorProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/system/plant/proto/DCMotorProtoTest.java @@ -6,9 +6,9 @@ package org.wpilib.math.system.plant.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.proto.Plant.ProtobufDCMotor; import org.wpilib.math.system.plant.DCMotor; -import org.junit.jupiter.api.Test; class DCMotorProtoTest { private static final DCMotor DATA = new DCMotor(1.91, 19.1, 1.74, 1.74, 22.9, 3); diff --git a/wpimath/src/test/java/org/wpilib/math/system/plant/struct/DCMotorStructTest.java b/wpimath/src/test/java/org/wpilib/math/system/plant/struct/DCMotorStructTest.java index d32cd5dfd0..18e951f455 100644 --- a/wpimath/src/test/java/org/wpilib/math/system/plant/struct/DCMotorStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/system/plant/struct/DCMotorStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.system.plant.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.system.plant.DCMotor; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.system.plant.DCMotor; class DCMotorStructTest { private static final DCMotor DATA = new DCMotor(1.91, 19.1, 1.74, 1.74, 22.9, 3); diff --git a/wpimath/src/test/java/org/wpilib/math/system/proto/LinearSystemProtoTest.java b/wpimath/src/test/java/org/wpilib/math/system/proto/LinearSystemProtoTest.java index b0ed3d51b6..9ddbc8a8a2 100644 --- a/wpimath/src/test/java/org/wpilib/math/system/proto/LinearSystemProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/system/proto/LinearSystemProtoTest.java @@ -6,14 +6,14 @@ package org.wpilib.math.system.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.wpilib.ProtoTestBase; import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.util.Nat; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; import org.wpilib.math.numbers.N4; import org.wpilib.math.proto.System.ProtobufLinearSystem; import org.wpilib.math.system.LinearSystem; -import org.wpilib.ProtoTestBase; +import org.wpilib.math.util.Nat; @SuppressWarnings("PMD.TestClassWithoutTestCases") class LinearSystemProtoTest extends ProtoTestBase, ProtobufLinearSystem> { diff --git a/wpimath/src/test/java/org/wpilib/math/system/struct/LinearSystemStructTest.java b/wpimath/src/test/java/org/wpilib/math/system/struct/LinearSystemStructTest.java index 9c3292ff33..7ddcf10b90 100644 --- a/wpimath/src/test/java/org/wpilib/math/system/struct/LinearSystemStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/system/struct/LinearSystemStructTest.java @@ -6,13 +6,13 @@ package org.wpilib.math.system.struct; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.wpilib.StructTestBase; import org.wpilib.math.linalg.MatBuilder; -import org.wpilib.math.util.Nat; import org.wpilib.math.numbers.N2; import org.wpilib.math.numbers.N3; import org.wpilib.math.numbers.N4; import org.wpilib.math.system.LinearSystem; -import org.wpilib.StructTestBase; +import org.wpilib.math.util.Nat; @SuppressWarnings("PMD.TestClassWithoutTestCases") class LinearSystemStructTest extends StructTestBase> { diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/CentripetalAccelerationConstraintTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/CentripetalAccelerationConstraintTest.java index 1bdc8e8ffd..831c6eaab7 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/CentripetalAccelerationConstraintTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/CentripetalAccelerationConstraintTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.trajectory; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.trajectory.constraint.CentripetalAccelerationConstraint; -import org.wpilib.math.util.Units; import java.util.Collections; import org.junit.jupiter.api.Test; +import org.wpilib.math.trajectory.constraint.CentripetalAccelerationConstraint; +import org.wpilib.math.util.Units; class CentripetalAccelerationConstraintTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/DifferentialDriveKinematicsConstraintTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/DifferentialDriveKinematicsConstraintTest.java index 32ab16b30e..8e0de92353 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/DifferentialDriveKinematicsConstraintTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/DifferentialDriveKinematicsConstraintTest.java @@ -7,12 +7,12 @@ package org.wpilib.math.trajectory; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.Collections; +import org.junit.jupiter.api.Test; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.DifferentialDriveKinematics; import org.wpilib.math.trajectory.constraint.DifferentialDriveKinematicsConstraint; import org.wpilib.math.util.Units; -import java.util.Collections; -import org.junit.jupiter.api.Test; class DifferentialDriveKinematicsConstraintTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/DifferentialDriveVoltageConstraintTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/DifferentialDriveVoltageConstraintTest.java index 939a4d30ff..d8dea4f619 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/DifferentialDriveVoltageConstraintTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/DifferentialDriveVoltageConstraintTest.java @@ -8,15 +8,15 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.ArrayList; +import java.util.Collections; +import org.junit.jupiter.api.Test; import org.wpilib.math.controller.SimpleMotorFeedforward; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.kinematics.ChassisSpeeds; import org.wpilib.math.kinematics.DifferentialDriveKinematics; import org.wpilib.math.trajectory.constraint.DifferentialDriveVoltageConstraint; -import java.util.ArrayList; -import java.util.Collections; -import org.junit.jupiter.api.Test; class DifferentialDriveVoltageConstraintTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/EllipticalRegionConstraintTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/EllipticalRegionConstraintTest.java index 130ff1e1af..8291218002 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/EllipticalRegionConstraintTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/EllipticalRegionConstraintTest.java @@ -6,14 +6,14 @@ package org.wpilib.math.trajectory; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Ellipse2d; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.trajectory.constraint.EllipticalRegionConstraint; import org.wpilib.math.trajectory.constraint.MaxVelocityConstraint; import org.wpilib.math.util.Units; -import java.util.List; -import org.junit.jupiter.api.Test; class EllipticalRegionConstraintTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/ExponentialProfileTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/ExponentialProfileTest.java index 9727ca00d0..be087d2ecd 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/ExponentialProfileTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/ExponentialProfileTest.java @@ -9,9 +9,9 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.controller.SimpleMotorFeedforward; import java.util.List; import org.junit.jupiter.api.Test; +import org.wpilib.math.controller.SimpleMotorFeedforward; class ExponentialProfileTest { private static final double kDt = 0.01; diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/RectangularRegionConstraintTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/RectangularRegionConstraintTest.java index fd8616d4b2..52543f396d 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/RectangularRegionConstraintTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/RectangularRegionConstraintTest.java @@ -6,13 +6,13 @@ package org.wpilib.math.trajectory; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Rectangle2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.trajectory.constraint.MaxVelocityConstraint; import org.wpilib.math.trajectory.constraint.RectangularRegionConstraint; import org.wpilib.math.util.Units; -import java.util.List; -import org.junit.jupiter.api.Test; class RectangularRegionConstraintTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryConcatenateTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryConcatenateTest.java index 255447c23a..28df0ba37a 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryConcatenateTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryConcatenateTest.java @@ -7,10 +7,10 @@ package org.wpilib.math.trajectory; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; -import org.wpilib.math.geometry.Pose2d; -import org.wpilib.math.geometry.Rotation2d; import java.util.List; import org.junit.jupiter.api.Test; +import org.wpilib.math.geometry.Pose2d; +import org.wpilib.math.geometry.Rotation2d; class TrajectoryConcatenateTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryGeneratorTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryGeneratorTest.java index 060ab0e147..859dc6c13a 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryGeneratorTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryGeneratorTest.java @@ -4,20 +4,20 @@ package org.wpilib.math.trajectory; -import static org.wpilib.math.util.Units.feetToMeters; import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertNotEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import static org.wpilib.math.util.Units.feetToMeters; +import java.util.ArrayList; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Transform2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.trajectory.constraint.TrajectoryConstraint; -import java.util.ArrayList; -import java.util.List; -import org.junit.jupiter.api.Test; class TrajectoryGeneratorTest { static Trajectory getTrajectory(List constraints) { diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryTransformTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryTransformTest.java index 4f2b405eca..d24c05c879 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryTransformTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/TrajectoryTransformTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.trajectory; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Transform2d; import org.wpilib.math.geometry.Translation2d; -import java.util.List; -import org.junit.jupiter.api.Test; class TrajectoryTransformTest { @Test diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/proto/TrajectoryProtoTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/proto/TrajectoryProtoTest.java index 4fbb3ca4e1..c93dc69330 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/proto/TrajectoryProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/proto/TrajectoryProtoTest.java @@ -6,13 +6,13 @@ package org.wpilib.math.trajectory.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import java.util.List; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.proto.Trajectory.ProtobufTrajectory; import org.wpilib.math.trajectory.Trajectory; -import java.util.List; -import org.junit.jupiter.api.Test; class TrajectoryProtoTest { private static final Trajectory DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/proto/TrajectoryStateProtoTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/proto/TrajectoryStateProtoTest.java index 67d4af67d5..8a705eb1b0 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/proto/TrajectoryStateProtoTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/proto/TrajectoryStateProtoTest.java @@ -6,12 +6,12 @@ package org.wpilib.math.trajectory.proto; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.proto.Trajectory.ProtobufTrajectoryState; import org.wpilib.math.trajectory.Trajectory; -import org.junit.jupiter.api.Test; class TrajectoryStateProtoTest { private static final Trajectory.State DATA = diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/struct/ExponentialProfileStateStructTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/struct/ExponentialProfileStateStructTest.java index e318dfcb71..ee2b0f3d4c 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/struct/ExponentialProfileStateStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/struct/ExponentialProfileStateStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.trajectory.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.trajectory.ExponentialProfile; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.trajectory.ExponentialProfile; class ExponentialProfileStateStructTest { private static final ExponentialProfile.State STATE = new ExponentialProfile.State(4.0, 5.0); diff --git a/wpimath/src/test/java/org/wpilib/math/trajectory/struct/TrapezoidProfileStateStructTest.java b/wpimath/src/test/java/org/wpilib/math/trajectory/struct/TrapezoidProfileStateStructTest.java index c0a3f8d942..0c7d41c761 100644 --- a/wpimath/src/test/java/org/wpilib/math/trajectory/struct/TrapezoidProfileStateStructTest.java +++ b/wpimath/src/test/java/org/wpilib/math/trajectory/struct/TrapezoidProfileStateStructTest.java @@ -6,10 +6,10 @@ package org.wpilib.math.trajectory.struct; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.math.trajectory.TrapezoidProfile; import java.nio.ByteBuffer; import java.nio.ByteOrder; import org.junit.jupiter.api.Test; +import org.wpilib.math.trajectory.TrapezoidProfile; class TrapezoidProfileStateStructTest { private static final TrapezoidProfile.State STATE = new TrapezoidProfile.State(4.0, 5.0); diff --git a/wpimath/src/test/java/org/wpilib/math/util/ComputerVisionUtilTest.java b/wpimath/src/test/java/org/wpilib/math/util/ComputerVisionUtilTest.java index 0cb3347cae..ac1edbc4bd 100644 --- a/wpimath/src/test/java/org/wpilib/math/util/ComputerVisionUtilTest.java +++ b/wpimath/src/test/java/org/wpilib/math/util/ComputerVisionUtilTest.java @@ -6,13 +6,12 @@ package org.wpilib.math.util; import static org.junit.jupiter.api.Assertions.assertEquals; +import org.junit.jupiter.api.Test; +import org.wpilib.UtilityClassTest; import org.wpilib.math.geometry.Pose3d; import org.wpilib.math.geometry.Rotation3d; import org.wpilib.math.geometry.Transform3d; import org.wpilib.math.geometry.Translation3d; -import org.wpilib.math.util.Units; -import org.wpilib.UtilityClassTest; -import org.junit.jupiter.api.Test; class ComputerVisionUtilTest extends UtilityClassTest { ComputerVisionUtilTest() { diff --git a/wpimath/src/test/java/org/wpilib/math/util/MathUtilTest.java b/wpimath/src/test/java/org/wpilib/math/util/MathUtilTest.java index cdfcab78ef..ca86c1e229 100644 --- a/wpimath/src/test/java/org/wpilib/math/util/MathUtilTest.java +++ b/wpimath/src/test/java/org/wpilib/math/util/MathUtilTest.java @@ -8,10 +8,10 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; +import org.wpilib.UtilityClassTest; import org.wpilib.math.geometry.Translation2d; import org.wpilib.math.geometry.Translation3d; -import org.wpilib.UtilityClassTest; -import org.junit.jupiter.api.Test; import org.wpilib.math.linalg.VecBuilder; class MathUtilTest extends UtilityClassTest { diff --git a/wpimath/src/test/java/org/wpilib/math/util/StateSpaceUtilTest.java b/wpimath/src/test/java/org/wpilib/math/util/StateSpaceUtilTest.java index 189474e049..8f8e448f7b 100644 --- a/wpimath/src/test/java/org/wpilib/math/util/StateSpaceUtilTest.java +++ b/wpimath/src/test/java/org/wpilib/math/util/StateSpaceUtilTest.java @@ -8,6 +8,10 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertFalse; import static org.junit.jupiter.api.Assertions.assertTrue; +import java.util.ArrayList; +import java.util.List; +import org.junit.jupiter.api.Test; +import org.wpilib.UtilityClassTest; import org.wpilib.math.geometry.Pose2d; import org.wpilib.math.geometry.Rotation2d; import org.wpilib.math.linalg.MatBuilder; @@ -15,10 +19,6 @@ import org.wpilib.math.linalg.Matrix; import org.wpilib.math.linalg.VecBuilder; import org.wpilib.math.numbers.N1; import org.wpilib.math.numbers.N2; -import org.wpilib.UtilityClassTest; -import java.util.ArrayList; -import java.util.List; -import org.junit.jupiter.api.Test; class StateSpaceUtilTest extends UtilityClassTest { StateSpaceUtilTest() { diff --git a/wpimath/src/test/java/org/wpilib/math/util/UnitsTest.java b/wpimath/src/test/java/org/wpilib/math/util/UnitsTest.java index b24cb9acc3..02d7bbc9f5 100644 --- a/wpimath/src/test/java/org/wpilib/math/util/UnitsTest.java +++ b/wpimath/src/test/java/org/wpilib/math/util/UnitsTest.java @@ -6,8 +6,8 @@ package org.wpilib.math.util; import static org.junit.jupiter.api.Assertions.assertEquals; -import org.wpilib.UtilityClassTest; import org.junit.jupiter.api.Test; +import org.wpilib.UtilityClassTest; class UnitsTest extends UtilityClassTest { UnitsTest() { diff --git a/wpinet/src/main/java/org/wpilib/net/MulticastServiceAnnouncer.java b/wpinet/src/main/java/org/wpilib/net/MulticastServiceAnnouncer.java index cabf790ec5..4eef5347f8 100644 --- a/wpinet/src/main/java/org/wpilib/net/MulticastServiceAnnouncer.java +++ b/wpinet/src/main/java/org/wpilib/net/MulticastServiceAnnouncer.java @@ -4,9 +4,9 @@ package org.wpilib.net; -import org.wpilib.util.cleanup.WPICleaner; import java.lang.ref.Cleaner.Cleanable; import java.util.Map; +import org.wpilib.util.cleanup.WPICleaner; /** Class to announce over mDNS that a service is available. */ public class MulticastServiceAnnouncer implements AutoCloseable { diff --git a/wpinet/src/main/java/org/wpilib/net/MulticastServiceResolver.java b/wpinet/src/main/java/org/wpilib/net/MulticastServiceResolver.java index 2f042122bc..8960499b55 100644 --- a/wpinet/src/main/java/org/wpilib/net/MulticastServiceResolver.java +++ b/wpinet/src/main/java/org/wpilib/net/MulticastServiceResolver.java @@ -4,8 +4,8 @@ package org.wpilib.net; -import org.wpilib.util.cleanup.WPICleaner; import java.lang.ref.Cleaner.Cleanable; +import org.wpilib.util.cleanup.WPICleaner; /** Class to resolve a service over mDNS. */ public class MulticastServiceResolver implements AutoCloseable { diff --git a/wpinet/src/main/java/org/wpilib/net/WPINetJNI.java b/wpinet/src/main/java/org/wpilib/net/WPINetJNI.java index 332900883c..483b97850b 100644 --- a/wpinet/src/main/java/org/wpilib/net/WPINetJNI.java +++ b/wpinet/src/main/java/org/wpilib/net/WPINetJNI.java @@ -4,9 +4,9 @@ package org.wpilib.net; -import org.wpilib.util.runtime.RuntimeLoader; import java.io.IOException; import java.util.concurrent.atomic.AtomicBoolean; +import org.wpilib.util.runtime.RuntimeLoader; /** WPINet JNI. */ public class WPINetJNI { diff --git a/wpiunits/src/main/java/org/wpilib/units/AccelerationUnit.java b/wpiunits/src/main/java/org/wpilib/units/AccelerationUnit.java index 5315af8160..73975117dd 100644 --- a/wpiunits/src/main/java/org/wpilib/units/AccelerationUnit.java +++ b/wpiunits/src/main/java/org/wpilib/units/AccelerationUnit.java @@ -10,8 +10,8 @@ import org.wpilib.units.measure.Acceleration; * A generic unit of acceleration. * *

NOTE: This type is not compatible with unit-specific accelerations like - * {@link org.wpilib.units.measure.LinearAcceleration}. Authors of APIs that need to interact - * with all types should consider using a generic {@code Measure], TimeUnit>, TimeUnit>}. Bounded wildcards are necessary in order to * interoperate with any subclass of the {@link org.wpilib.units.measure.Per} measurement * type. diff --git a/wpiunits/src/main/java/org/wpilib/units/CombinatoryUnitCache.java b/wpiunits/src/main/java/org/wpilib/units/CombinatoryUnitCache.java index 46f4300229..a934e3acdc 100644 --- a/wpiunits/src/main/java/org/wpilib/units/CombinatoryUnitCache.java +++ b/wpiunits/src/main/java/org/wpilib/units/CombinatoryUnitCache.java @@ -4,9 +4,9 @@ package org.wpilib.units; -import org.wpilib.units.collections.LongToObjectHashMap; import java.util.Objects; import java.util.function.BiFunction; +import org.wpilib.units.collections.LongToObjectHashMap; /** * A helper class for creating and caching combined unit objects. This helps to reduce unnecessary diff --git a/wpiunits/src/main/java/org/wpilib/units/LinearAccelerationUnit.java b/wpiunits/src/main/java/org/wpilib/units/LinearAccelerationUnit.java index 3d5e12aa4c..55eadceea4 100644 --- a/wpiunits/src/main/java/org/wpilib/units/LinearAccelerationUnit.java +++ b/wpiunits/src/main/java/org/wpilib/units/LinearAccelerationUnit.java @@ -6,9 +6,7 @@ package org.wpilib.units; import org.wpilib.units.measure.LinearAcceleration; -/** - * A unit of linear acceleration like {@link org.wpilib.units.Units#MetersPerSecondPerSecond}. - */ +/** A unit of linear acceleration like {@link org.wpilib.units.Units#MetersPerSecondPerSecond}. */ public final class LinearAccelerationUnit extends PerUnit { private static final CombinatoryUnitCache cache = new CombinatoryUnitCache<>(LinearAccelerationUnit::new); diff --git a/wpiunits/src/main/java/org/wpilib/units/MomentOfInertiaUnit.java b/wpiunits/src/main/java/org/wpilib/units/MomentOfInertiaUnit.java index db9bb916b8..0396da1fc5 100644 --- a/wpiunits/src/main/java/org/wpilib/units/MomentOfInertiaUnit.java +++ b/wpiunits/src/main/java/org/wpilib/units/MomentOfInertiaUnit.java @@ -7,8 +7,8 @@ package org.wpilib.units; import org.wpilib.units.measure.MomentOfInertia; /** - * A unit of moment of inertia, like {@link org.wpilib.units.Units#KilogramSquareMeters}. Moments - * of inertia describe how much an object resists being rotated, analogous to mass's resistance to + * A unit of moment of inertia, like {@link org.wpilib.units.Units#KilogramSquareMeters}. Moments of + * inertia describe how much an object resists being rotated, analogous to mass's resistance to * being accelerated along a line. */ public final class MomentOfInertiaUnit extends PerUnit { diff --git a/wpiunits/src/main/java/org/wpilib/units/MultUnit.java b/wpiunits/src/main/java/org/wpilib/units/MultUnit.java index b8a02d4069..db9ed5d1a0 100644 --- a/wpiunits/src/main/java/org/wpilib/units/MultUnit.java +++ b/wpiunits/src/main/java/org/wpilib/units/MultUnit.java @@ -4,8 +4,8 @@ package org.wpilib.units; -import org.wpilib.units.measure.Mult; import java.util.Objects; +import org.wpilib.units.measure.Mult; /** * A combinatory unit type that is equivalent to the product of two other others. Note that diff --git a/wpiunits/src/main/java/org/wpilib/units/PerUnit.java b/wpiunits/src/main/java/org/wpilib/units/PerUnit.java index f41fd32955..51ae62713d 100644 --- a/wpiunits/src/main/java/org/wpilib/units/PerUnit.java +++ b/wpiunits/src/main/java/org/wpilib/units/PerUnit.java @@ -4,8 +4,8 @@ package org.wpilib.units; -import org.wpilib.units.measure.Per; import java.util.Objects; +import org.wpilib.units.measure.Per; /** * Generic combinatory unit type that represents the proportion of one unit to another, such as @@ -157,8 +157,8 @@ public class PerUnit extends Unit { * {@inheritDoc} * *

Note: When called on an object of type {@code PerUnit} (and not a subclass!), this - * method will always return a {@link org.wpilib.units.measure.Per} instance. If you want to - * avoid casting, use {@link #ofNative(double)} that returns a {@code Per} instance directly. + * method will always return a {@link org.wpilib.units.measure.Per} instance. If you want to avoid + * casting, use {@link #ofNative(double)} that returns a {@code Per} instance directly. * * @param magnitude the magnitude of the measure * @return the ratio measure @@ -172,9 +172,8 @@ public class PerUnit extends Unit { * {@inheritDoc} * *

Note: When called on an object of type {@code PerUnit} (and not a subclass!), this - * method will always return a {@link org.wpilib.units.measure.Per} instance. If you want to - * avoid casting, use {@link #ofNativeBaseUnits(double)} that returns a {@code Per} instance - * directly. + * method will always return a {@link org.wpilib.units.measure.Per} instance. If you want to avoid + * casting, use {@link #ofNativeBaseUnits(double)} that returns a {@code Per} instance directly. * * @param baseUnitMagnitude the magnitude of the measure in terms of its base units. * @return the ratio measure diff --git a/wpiunits/src/test/java/org/wpilib/units/MeasureTest.java b/wpiunits/src/test/java/org/wpilib/units/MeasureTest.java index aef23c1243..9903b56c6e 100644 --- a/wpiunits/src/test/java/org/wpilib/units/MeasureTest.java +++ b/wpiunits/src/test/java/org/wpilib/units/MeasureTest.java @@ -11,13 +11,13 @@ import static org.junit.jupiter.api.Assertions.assertNull; import static org.junit.jupiter.api.Assertions.assertSame; import static org.junit.jupiter.api.Assertions.assertTrue; +import org.junit.jupiter.api.Test; import org.wpilib.units.measure.Angle; import org.wpilib.units.measure.AngularMomentum; import org.wpilib.units.measure.Distance; import org.wpilib.units.measure.LinearVelocity; import org.wpilib.units.measure.Per; import org.wpilib.units.measure.Time; -import org.junit.jupiter.api.Test; class MeasureTest { @Test diff --git a/wpiunits/src/test/java/org/wpilib/units/PerUnitTest.java b/wpiunits/src/test/java/org/wpilib/units/PerUnitTest.java index 845be52a5d..cb55306431 100644 --- a/wpiunits/src/test/java/org/wpilib/units/PerUnitTest.java +++ b/wpiunits/src/test/java/org/wpilib/units/PerUnitTest.java @@ -4,12 +4,12 @@ package org.wpilib.units; -import static org.wpilib.units.Units.Degrees; -import static org.wpilib.units.Units.Foot; -import static org.wpilib.units.Units.Inches; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertInstanceOf; import static org.junit.jupiter.api.Assertions.assertSame; +import static org.wpilib.units.Units.Degrees; +import static org.wpilib.units.Units.Foot; +import static org.wpilib.units.Units.Inches; import org.junit.jupiter.api.Test; diff --git a/wpiunits/src/test/java/org/wpilib/units/UnitsTest.java b/wpiunits/src/test/java/org/wpilib/units/UnitsTest.java index 47d6ea9476..36460f8efd 100644 --- a/wpiunits/src/test/java/org/wpilib/units/UnitsTest.java +++ b/wpiunits/src/test/java/org/wpilib/units/UnitsTest.java @@ -4,6 +4,8 @@ package org.wpilib.units; +import static org.junit.jupiter.api.Assertions.assertEquals; +import static org.junit.jupiter.api.Assertions.assertTrue; import static org.wpilib.units.Units.Amps; import static org.wpilib.units.Units.Celsius; import static org.wpilib.units.Units.Centimeters; @@ -39,8 +41,6 @@ import static org.wpilib.units.Units.Seconds; import static org.wpilib.units.Units.Value; import static org.wpilib.units.Units.Volts; import static org.wpilib.units.Units.Watts; -import static org.junit.jupiter.api.Assertions.assertEquals; -import static org.junit.jupiter.api.Assertions.assertTrue; import java.util.function.DoubleFunction; import org.junit.jupiter.api.Test; diff --git a/wpiunits/src/test/java/org/wpilib/units/VelocityUnitTest.java b/wpiunits/src/test/java/org/wpilib/units/VelocityUnitTest.java index eaf10ee4df..6bcd37a97e 100644 --- a/wpiunits/src/test/java/org/wpilib/units/VelocityUnitTest.java +++ b/wpiunits/src/test/java/org/wpilib/units/VelocityUnitTest.java @@ -4,6 +4,9 @@ package org.wpilib.units; +import static org.junit.jupiter.api.Assertions.assertEquals; +import static org.junit.jupiter.api.Assertions.assertSame; +import static org.junit.jupiter.api.Assertions.assertTrue; import static org.wpilib.units.Units.Feet; import static org.wpilib.units.Units.FeetPerSecond; import static org.wpilib.units.Units.Meters; @@ -14,9 +17,6 @@ import static org.wpilib.units.Units.Minute; import static org.wpilib.units.Units.Radians; import static org.wpilib.units.Units.Second; import static org.wpilib.units.Units.Seconds; -import static org.junit.jupiter.api.Assertions.assertEquals; -import static org.junit.jupiter.api.Assertions.assertSame; -import static org.junit.jupiter.api.Assertions.assertTrue; import org.junit.jupiter.api.Test; diff --git a/wpiunits/src/test/java/org/wpilib/units/measure/VelocityTest.java b/wpiunits/src/test/java/org/wpilib/units/measure/VelocityTest.java index 1daa362153..f84faa3857 100644 --- a/wpiunits/src/test/java/org/wpilib/units/measure/VelocityTest.java +++ b/wpiunits/src/test/java/org/wpilib/units/measure/VelocityTest.java @@ -4,15 +4,15 @@ package org.wpilib.units.measure; +import static org.junit.jupiter.api.Assertions.assertInstanceOf; import static org.wpilib.units.Units.Milliseconds; import static org.wpilib.units.Units.Seconds; import static org.wpilib.units.Units.Volts; -import static org.junit.jupiter.api.Assertions.assertInstanceOf; +import org.junit.jupiter.api.Test; import org.wpilib.units.Measure; import org.wpilib.units.VelocityUnit; import org.wpilib.units.VoltageUnit; -import org.junit.jupiter.api.Test; class VelocityTest { @Test diff --git a/wpiutil/src/main/java/org/wpilib/util/cleanup/CleanupPool.java b/wpiutil/src/main/java/org/wpilib/util/cleanup/CleanupPool.java index 5a721bc463..65347c7cea 100644 --- a/wpiutil/src/main/java/org/wpilib/util/cleanup/CleanupPool.java +++ b/wpiutil/src/main/java/org/wpilib/util/cleanup/CleanupPool.java @@ -4,9 +4,9 @@ package org.wpilib.util.cleanup; -import org.wpilib.util.ErrorMessages; import java.util.ArrayDeque; import java.util.Deque; +import org.wpilib.util.ErrorMessages; /** * An object containing a Stack of AutoCloseable objects that are closed when this object is closed. diff --git a/wpiutil/src/main/java/org/wpilib/util/sendable/SendableBuilder.java b/wpiutil/src/main/java/org/wpilib/util/sendable/SendableBuilder.java index 06229ae11d..a90780f9e5 100644 --- a/wpiutil/src/main/java/org/wpilib/util/sendable/SendableBuilder.java +++ b/wpiutil/src/main/java/org/wpilib/util/sendable/SendableBuilder.java @@ -4,9 +4,6 @@ package org.wpilib.util.sendable; -import org.wpilib.util.function.BooleanConsumer; -import org.wpilib.util.function.FloatConsumer; -import org.wpilib.util.function.FloatSupplier; import java.util.function.BooleanSupplier; import java.util.function.Consumer; import java.util.function.DoubleConsumer; @@ -14,6 +11,9 @@ import java.util.function.DoubleSupplier; import java.util.function.LongConsumer; import java.util.function.LongSupplier; import java.util.function.Supplier; +import org.wpilib.util.function.BooleanConsumer; +import org.wpilib.util.function.FloatConsumer; +import org.wpilib.util.function.FloatSupplier; /** Helper class for building Sendable dashboard representations. */ public interface SendableBuilder extends AutoCloseable { diff --git a/wpiutil/src/main/java/org/wpilib/util/struct/StructDescriptorDatabase.java b/wpiutil/src/main/java/org/wpilib/util/struct/StructDescriptorDatabase.java index f7b5be041c..62b77b0fa9 100644 --- a/wpiutil/src/main/java/org/wpilib/util/struct/StructDescriptorDatabase.java +++ b/wpiutil/src/main/java/org/wpilib/util/struct/StructDescriptorDatabase.java @@ -4,13 +4,13 @@ package org.wpilib.util.struct; +import java.util.HashMap; +import java.util.Map; +import java.util.Stack; import org.wpilib.util.struct.parser.ParseException; import org.wpilib.util.struct.parser.ParsedDeclaration; import org.wpilib.util.struct.parser.ParsedSchema; import org.wpilib.util.struct.parser.Parser; -import java.util.HashMap; -import java.util.Map; -import java.util.Stack; /** Database of raw struct dynamic descriptors. */ public class StructDescriptorDatabase { diff --git a/wpiutil/src/test/java/org/wpilib/util/ErrorMessagesTest.java b/wpiutil/src/test/java/org/wpilib/util/ErrorMessagesTest.java index 8ef9f6bd14..ed1d6aa605 100644 --- a/wpiutil/src/test/java/org/wpilib/util/ErrorMessagesTest.java +++ b/wpiutil/src/test/java/org/wpilib/util/ErrorMessagesTest.java @@ -4,9 +4,9 @@ package org.wpilib.util; -import static org.wpilib.util.ErrorMessages.requireNonNullParam; import static org.junit.jupiter.api.Assertions.assertDoesNotThrow; import static org.junit.jupiter.api.Assertions.assertThrows; +import static org.wpilib.util.ErrorMessages.requireNonNullParam; import org.junit.jupiter.api.Test; diff --git a/wpiutil/src/test/java/org/wpilib/util/struct/StructGeneratorTest.java b/wpiutil/src/test/java/org/wpilib/util/struct/StructGeneratorTest.java index 1cc97da488..86f2324d2e 100644 --- a/wpiutil/src/test/java/org/wpilib/util/struct/StructGeneratorTest.java +++ b/wpiutil/src/test/java/org/wpilib/util/struct/StructGeneratorTest.java @@ -4,9 +4,9 @@ package org.wpilib.util.struct; +import static org.junit.jupiter.api.Assertions.assertEquals; import static org.wpilib.util.struct.StructGenerator.genEnum; import static org.wpilib.util.struct.StructGenerator.genRecord; -import static org.junit.jupiter.api.Assertions.assertEquals; import java.nio.ByteBuffer; import java.nio.ByteOrder; diff --git a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java index c35aeb7b93..d9fde1dd28 100644 --- a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java +++ b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java @@ -4,13 +4,13 @@ package org.wpilib.xrp; +import java.util.HashMap; +import java.util.HashSet; import org.wpilib.hardware.hal.SimBoolean; import org.wpilib.hardware.hal.SimDevice; import org.wpilib.hardware.hal.SimDevice.Direction; import org.wpilib.hardware.hal.SimDouble; import org.wpilib.hardware.motor.MotorController; -import java.util.HashMap; -import java.util.HashSet; /** * XRPMotor. diff --git a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPServo.java b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPServo.java index 152fee7ff8..f66d0baa95 100644 --- a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPServo.java +++ b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPServo.java @@ -4,11 +4,11 @@ package org.wpilib.xrp; +import java.util.HashMap; +import java.util.HashSet; import org.wpilib.hardware.hal.SimDevice; import org.wpilib.hardware.hal.SimDevice.Direction; import org.wpilib.hardware.hal.SimDouble; -import java.util.HashMap; -import java.util.HashSet; /** * XRPServo.