style: apply ktlint formatting [bot]

Author: github-actions[bot]

TeamCode/src/main/kotlin/pioneer/Constants.kt

@@ -99,7 +99,6 @@ object Follower {
     /** The maximum drive velocity in cm per second. */
     const val MAX_DRIVE_VELOCITY = 100.0
 
-
     /** The maximum drive acceleration in cm per second squared. */
     const val MAX_DRIVE_ACCELERATION = 50.0
 
@@ -114,17 +113,23 @@ object Follower {
 
     // X-axis PID coefficients for the trajectory follower
     @JvmField var X_KP = 0.0
+
     @JvmField var X_KI = 0.0
+
     @JvmField var X_KD = 0.0
 
     // Y-axis PID coefficients for the trajectory follower
     @JvmField var Y_KP = 0.0
+
     @JvmField var Y_KI = 0.0
+
     @JvmField var Y_KD = 0.0
 
     // Theta PID coefficients for the trajectory follower
     @JvmField var THETA_KP = 0.0
+
     @JvmField var THETA_KI = 0.0
+
     @JvmField var THETA_KD = 0.0
 }
 

TeamCode/src/main/kotlin/pioneer/helpers/MathUtils.kt

@@ -43,12 +43,16 @@ object MathUtils {
      * @param heading Angle in radians to rotate the vector
      * @return Pair of rotated (x, y) components
      */
-    fun rotateVector(x: Double, y: Double, heading: Double): Pair<Double, Double> {
+    fun rotateVector(
+        x: Double,
+        y: Double,
+        heading: Double,
+    ): Pair<Double, Double> {
         val cos = cos(heading)
         val sin = sin(heading)
         return Pair(
             x * cos - y * sin,
-            x * sin + y * cos
+            x * sin + y * cos,
         )
     }
 }

TeamCode/src/main/kotlin/pioneer/pathing/follower/Follower.kt

@@ -102,15 +102,15 @@ class Follower(
                 ay = targetState.a * tangent.y + targetState.v.pow(2) * curvature * tangent.x,
                 theta = headingTarget.x,
                 omega = headingTarget.v,
-                alpha = headingTarget.a
+                alpha = headingTarget.a,
             )
 
         // Calculate the error and convert to robot-centric coordinates
         val error =
             Pose(
                 x = targetPose.x - localizer.pose.x,
                 y = targetPose.y - localizer.pose.y,
-                theta = MathUtils.normalizeRadians(headingTarget.x - localizer.pose.theta)
+                theta = MathUtils.normalizeRadians(headingTarget.x - localizer.pose.theta),
             )
 
         // Calculate the PID outputs
@@ -120,17 +120,19 @@ class Follower(
 
         // Apply corrections to velocity directly
         // Rotate to convert to robot-centric coordinates
-        val (vxRobot, vyRobot) = MathUtils.rotateVector(
-            x = targetPose.vx + xCorrection,
-            y = targetPose.vy + yCorrection,
-            heading = -localizer.pose.theta
-        )
+        val (vxRobot, vyRobot) =
+            MathUtils.rotateVector(
+                x = targetPose.vx + xCorrection,
+                y = targetPose.vy + yCorrection,
+                heading = -localizer.pose.theta,
+            )
 
-        val correctedPose = targetPose.copy(
-            vx = vxRobot,
-            vy = vyRobot,
-            omega = targetPose.omega + turnCorrection
-        )
+        val correctedPose =
+            targetPose.copy(
+                vx = vxRobot,
+                vy = vyRobot,
+                omega = targetPose.omega + turnCorrection,
+            )
 
         mecanumBase.setDriveVA(correctedPose)
     }
@@ -140,7 +142,7 @@ class Follower(
         elapsedTime.reset()
         // Reset the PID controllers
         xPID.reset()
-                yPID.reset()
+        yPID.reset()
         headingPID.reset()
     }
 
@@ -171,22 +173,25 @@ class Follower(
                 FollowerConstants.MAX_DRIVE_ACCELERATION
             }
             return MotionProfileGenerator.generateMotionProfile(
-                    startState,
-                    endState,
-                    velocityConstraint,
-                    accelerationConstraint,
-                )
+                startState,
+                endState,
+                velocityConstraint,
+                accelerationConstraint,
+            )
         } else {
             return null
         }
     }
 
-    private fun calculateHeadingProfile(): MotionProfile? {
-        return if (path != null) MotionProfileGenerator.generateMotionProfile(
-            MotionState(localizer.pose.theta, 0.0, 0.0),
-            MotionState(path!!.endPose.theta, 0.0, 0.0),
-            { FollowerConstants.MAX_ANGULAR_VELOCITY },
-            { FollowerConstants.MAX_ANGULAR_ACCELERATION },
-        ) else null
-    }
+    private fun calculateHeadingProfile(): MotionProfile? =
+        if (path != null) {
+            MotionProfileGenerator.generateMotionProfile(
+                MotionState(localizer.pose.theta, 0.0, 0.0),
+                MotionState(path!!.endPose.theta, 0.0, 0.0),
+                { FollowerConstants.MAX_ANGULAR_VELOCITY },
+                { FollowerConstants.MAX_ANGULAR_ACCELERATION },
+            )
+        } else {
+            null
+        }
 }

TeamCode/src/main/kotlin/pioneer/pathing/paths/LinearPath.kt

@@ -13,6 +13,7 @@ class LinearPath(
 ) : Path {
     // Constructor overloads
     constructor(startX: Double, startY: Double, endX: Double, endY: Double) : this(Pose(startX, startY), Pose(endX, endY))
+
     override fun getLength(): Double = startPose.distanceTo(endPose)
 
     override fun getLengthSoFar(t: Double): Double = getLength() * t