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4201VitruvianBots · Jan 28, 2025 · 924710b · 924710b
1 parent f0dffff
commit 924710b
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Showing 2 changed files with 6 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/constants/ENDEFFECTOR.java b/src/main/java/frc/robot/constants/ENDEFFECTOR.java
@@ -9,21 +9,21 @@ public class ENDEFFECTOR {
   // Pivot motor stuff
   public static final double minAngleDegrees = 270;
   public static final double maxAngleDegrees = 3;
-  
+
   public static final double kPivotP = 0.0;
   public static final double kPivotI = 0.0;
   public static final double kPivotD = 0.0;
 
   public static final double endEffectorPivotGearRatio = 70.0;
 
-  public enum WRIST_SETPOINT{
+  public enum WRIST_SETPOINT {
     STOWED(0),
     L4(0),
     L3_L2(0);
 
     private final double angle;
 
-    WRIST_SETPOINT(double angle){
+    WRIST_SETPOINT(double angle) {
       this.angle = angle;
     }
 

diff --git a/src/main/java/frc/robot/subsystems/EndEffectorWrist.java b/src/main/java/frc/robot/subsystems/EndEffectorWrist.java
@@ -5,11 +5,9 @@
 package frc.robot.subsystems;
 
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.ENDEFFECTOR;
@@ -46,12 +44,9 @@ public boolean getState() {
   }
 
   public void setPosition(double rotations) {
-    m_desiredRotations = MathUtil.clamp(
-      rotations, 
-      ENDEFFECTOR.minAngleDegrees, 
-      ENDEFFECTOR.maxAngleDegrees
-    );
-  }  
+    m_desiredRotations =
+        MathUtil.clamp(rotations, ENDEFFECTOR.minAngleDegrees, ENDEFFECTOR.maxAngleDegrees);
+  }
 
   public double getPosition() {
     return m_desiredRotations;