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SCRIPT: Spotless Apply

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This commit is contained in:
PJ Reiniger
2025-11-07 19:57:21 -05:00
committed by Peter Johnson
parent c89910b7c6
commit c48b722dac
650 changed files with 1529 additions and 1545 deletions
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16
wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java
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@@ -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.
*
* <p>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.