formatting tweaks and minor AutonWheelTurn adjustment

frc1711 · Mar 24, 2021 · 910de00 · 910de00
1 parent eef7eef
commit 910de00
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Showing 4 changed files with 8 additions and 4 deletions.
diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class
diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonWheelTurn.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonWheelTurn.class
diff --git a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDrive.java b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonDrive.java
@@ -31,8 +31,8 @@ public class AutonDrive extends SequentialCommandGroup {
     public AutonDrive (AutoSwerveDrive swerveDrive, double direction, double distance, double speed, FrameOfReference frameOfReference) {
         if (frameOfReference == FrameOfReference.FIELD) direction -= swerveDrive.getGyroAngle();
         addCommands(
-            new AutonWheelTurn(swerveDrive, direction),
-            new AutonDriveSimple(swerveDrive, direction, distance, speed));
+                new AutonWheelTurn(swerveDrive, direction),
+                new AutonDriveSimple(swerveDrive, direction, distance, speed));
     }
 
     /**
@@ -49,7 +49,12 @@ public AutonDrive (AutoSwerveDrive swerveDrive, double direction, double distanc
      * to the gyro's initial orientation.
      * @return                  The {@code AutonDrive}
      */
-    public static AutonDrive fromMovement (AutoSwerveDrive swerveDrive, double inchesRight, double inchesForward, double speed, FrameOfReference frameOfReference) {
+    public static AutonDrive fromMovement (
+                AutoSwerveDrive swerveDrive,
+                double inchesRight,
+                double inchesForward,
+                double speed,
+                FrameOfReference frameOfReference) {
         final Vector moveVector = new Vector(inchesRight, inchesForward);
         return new AutonDrive(swerveDrive, moveVector.getRotationDegrees(), moveVector.getMagnitude(), speed, frameOfReference);
     }

diff --git a/swervelib/src/main/java/frc/team1711/swerve/commands/AutonWheelTurn.java b/swervelib/src/main/java/frc/team1711/swerve/commands/AutonWheelTurn.java
@@ -41,7 +41,6 @@ class AutonWheelTurn extends CommandBase {
     @Override
     public void initialize () {
         swerveDrive.stop();
-        swerveDrive.setDistanceReference();
     }
 
     @Override