Reformatted code, generated javadocs.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>

src/main/java/swervelib/SwerveDrive.java

@@ -66,11 +66,11 @@ public class SwerveDrive
   /**
    * Odometry lock to ensure thread safety.
    */
-  private final Lock           odometryLock                                    = new ReentrantLock();
+  private final Lock                     odometryLock                                    = new ReentrantLock();
   /**
    * Field object.
    */
-  public        Field2d        field                                           = new Field2d();
+  public        Field2d                  field                                           = new Field2d();
   /**
    * Swerve controller for controlling heading of the robot.
    */
@@ -79,31 +79,31 @@ public class SwerveDrive
    * Standard deviation of encoders and gyroscopes, usually should not change. (meters of position and degrees of
    * rotation)
    */
-  public        Matrix<N3, N1> stateStdDevs                                    = VecBuilder.fill(0.1,
-                                                                                                 0.1,
-                                                                                                 0.1);
+  public        Matrix<N3, N1>           stateStdDevs                                    = VecBuilder.fill(0.1,
+                                                                                                           0.1,
+                                                                                                           0.1);
   /**
    * The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more
    * points and fit a line to it and modify this using {@link SwerveDrive#addVisionMeasurement(Pose2d, double, Matrix)}
    * with the calculated optimal standard deviation. (Units should be meters per pixel). By optimizing this you can get
    * vision accurate to inches instead of feet.
    */
-  public        Matrix<N3, N1> visionMeasurementStdDevs                        = VecBuilder.fill(0.9,
-                                                                                                 0.9,
-                                                                                                 0.9);
+  public        Matrix<N3, N1>           visionMeasurementStdDevs                        = VecBuilder.fill(0.9,
+                                                                                                           0.9,
+                                                                                                           0.9);
   /**
    * Invert odometry readings of drive motor positions, used as a patch for debugging currently.
    */
-  public        boolean        invertOdometry                                  = false;
+  public        boolean                  invertOdometry                                  = false;
   /**
    * Correct chassis velocity in {@link SwerveDrive#drive(Translation2d, double, boolean, boolean)} using 254's
    * correction.
    */
-  public        boolean        chassisVelocityCorrection                       = true;
+  public        boolean                  chassisVelocityCorrection                       = true;
   /**
    * Whether to correct heading when driving translationally. Set to true to enable.
    */
-  public        boolean        headingCorrection                               = false;
+  public        boolean                  headingCorrection                               = false;
   /**
    * Swerve IMU device for sensing the heading of the robot.
    */
@@ -115,23 +115,23 @@ public class SwerveDrive
   /**
    * Counter to synchronize the modules relative encoder with absolute encoder when not moving.
    */
-  private       int            moduleSynchronizationCounter                    = 0;
+  private       int                      moduleSynchronizationCounter                    = 0;
   /**
    * The last heading set in radians.
    */
-  private       double         lastHeadingRadians                              = 0;
+  private       double                   lastHeadingRadians                              = 0;
   /**
    * The absolute max speed that your robot can reach while translating in meters per second.
    */
-  private       double         attainableMaxTranslationalSpeedMetersPerSecond  = 0;
+  private       double                   attainableMaxTranslationalSpeedMetersPerSecond  = 0;
   /**
    * The absolute max speed the robot can reach while rotating radians per second.
    */
-  private       double         attainableMaxRotationalVelocityRadiansPerSecond = 0;
+  private       double                   attainableMaxRotationalVelocityRadiansPerSecond = 0;
   /**
    * Maximum speed of the robot in meters per second.
    */
-  private       double         maxSpeedMPS;
+  private       double                   maxSpeedMPS;
 
   /**
    * Creates a new swerve drivebase subsystem. Robot is controlled via the {@link SwerveDrive#drive} method, or via the
@@ -902,7 +902,8 @@ public void updateOdometry()
           SmartDashboard.putNumber(
               "Module[" + module.configuration.name + "] Absolute Encoder", module.getAbsolutePosition());
           SmartDashboard.putNumber(
-                "Module[" + module.configuration.name + "] Absolute Encoder Read Issue", module.getAbsoluteEncoderReadIssue() ? 1 : 0);
+              "Module[" + module.configuration.name + "] Absolute Encoder Read Issue",
+              module.getAbsoluteEncoderReadIssue() ? 1 : 0);
         }
         if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
         {
@@ -1072,8 +1073,8 @@ public void setModuleStateOptimization(boolean optimizationEnabled)
   }
 
   /**
-   * Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
-   * Also removes the internal offsets to prevent double offsetting.
+   * Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type. Also removes the
+   * internal offsets to prevent double offsetting.
    */
   public void pushOffsetsToControllers()
   {

src/main/java/swervelib/SwerveModule.java

@@ -24,10 +24,6 @@ public class SwerveModule
    * Swerve module configuration options.
    */
   public final  SwerveModuleConfiguration configuration;
-  /**
-   * Angle offset from the absolute encoder.
-   */
-  private double                    angleOffset;
   /**
    * Swerve Motors.
    */
@@ -39,32 +35,36 @@ public class SwerveModule
   /**
    * Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
    */
-  public  int                    moduleNumber;
+  public        int                    moduleNumber;
   /**
    * Feedforward for drive motor during closed loop control.
    */
-  public  SimpleMotorFeedforward feedforward;
+  public        SimpleMotorFeedforward feedforward;
   /**
    * Maximum speed of the drive motors in meters per second.
    */
-  public  double                 maxSpeed;
+  public        double                 maxSpeed;
   /**
    * Last swerve module state applied.
    */
-  public  SwerveModuleState      lastState;
+  public        SwerveModuleState      lastState;
   /**
    * Enable {@link SwerveModuleState} optimizations so the angle is reversed and speed is reversed to ensure the module
    * never turns more than 90deg.
    */
-  public  boolean                moduleStateOptimization  = true;
+  public        boolean                moduleStateOptimization  = true;
+  /**
+   * Angle offset from the absolute encoder.
+   */
+  private       double                    angleOffset;
   /**
    * Simulated swerve module.
    */
-  private SwerveModuleSimulation simModule;
+  private       SwerveModuleSimulation simModule;
   /**
    * Encoder synchronization queued.
    */
-  private boolean                synchronizeEncoderQueued = false;
+  private       boolean                synchronizeEncoderQueued = false;
 
   /**
    * Construct the swerve module and initialize the swerve module motors and absolute encoder.
@@ -390,22 +390,23 @@ public SwerveModuleConfiguration getConfiguration()
   }
 
   /**
-   * Push absolute encoder offset in the memory of the encoder or controller.
-   * Also removes the internal angle offset.
+   * Push absolute encoder offset in the memory of the encoder or controller. Also removes the internal angle offset.
    */
   public void pushOffsetsToControllers()
   {
-    if(absoluteEncoder != null)
+    if (absoluteEncoder != null)
     {
-      if(absoluteEncoder.setAbsoluteEncoderOffset(angleOffset)){
+      if (absoluteEncoder.setAbsoluteEncoderOffset(angleOffset))
+      {
         angleOffset = 0;
+      } else
+      {
+        DriverStation.reportWarning(
+            "Pushing the Absolute Encoder offset to the encoder failed on module #" + moduleNumber, false);
       }
-      else{
-        DriverStation.reportWarning("Pushing the Absolute Encoder offset to the encoder failed on module #"+moduleNumber, false);
-      }
-    }
-    else{
-      DriverStation.reportWarning("There is no Absolute Encoder on module #"+moduleNumber, false);
+    } else
+    {
+      DriverStation.reportWarning("There is no Absolute Encoder on module #" + moduleNumber, false);
     }
   }
 
@@ -417,16 +418,20 @@ public void restoreInternalOffset()
     absoluteEncoder.setAbsoluteEncoderOffset(0);
     angleOffset = configuration.angleOffset;
   }
+
   /**
    * Get if the last Absolute Encoder had a read issue, such as it does not exist.
    *
    * @return If the last Absolute Encoder had a read issue, or absolute encoder does not exist.
    */
   public boolean getAbsoluteEncoderReadIssue()
   {
-    if(absoluteEncoder == null)
+    if (absoluteEncoder == null)
+    {
       return true;
-    else
+    } else
+    {
       return absoluteEncoder.readingError;
+    }
   }
 }

src/main/java/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java

@@ -3,7 +3,6 @@
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.DriverStation;
 
 /**
  * Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
@@ -94,19 +93,19 @@ public Object getAbsoluteEncoder()
 
   /**
    * Cannot Set the offset of an Analog Absolute Encoder.
-   * 
+   *
    * @param offset the offset the Absolute Encoder uses as the zero point.
-   * 
    * @return Will always be false as setting the offset is unsupported of an Analog absolute encoder.
    */
   @Override
   public boolean setAbsoluteEncoderOffset(double offset)
   {
     //Do Nothing
-    DriverStation.reportWarning("Cannot Set Absolute Encoder Offset of Analog Encoders Channel #"+encoder.getChannel(), false);
+    DriverStation.reportWarning(
+        "Cannot Set Absolute Encoder Offset of Analog Encoders Channel #" + encoder.getChannel(), false);
     return false;
-   }
-   
+  }
+
   /**
    * Get the velocity in degrees/sec.
    *
@@ -115,7 +114,7 @@ public boolean setAbsoluteEncoderOffset(double offset)
   @Override
   public double getVelocity()
   {
-    DriverStation.reportWarning("The Analog Absolute encoder may not report accurate velocities!",true);
+    DriverStation.reportWarning("The Analog Absolute encoder may not report accurate velocities!", true);
     return encoder.getValue();
   }
 }

src/main/java/swervelib/encoders/CANCoderSwerve.java

@@ -140,23 +140,23 @@ public Object getAbsoluteEncoder()
 
   /**
    * Sets the Absolute Encoder Offset inside of the CANcoder's Memory.
-   * 
+   *
    * @param offset the offset the Absolute Encoder uses as the zero point.
-   * 
    * @return if setting Absolute Encoder Offset was successful or not.
    */
   @Override
   public boolean setAbsoluteEncoderOffset(double offset)
   {
     ErrorCode error = encoder.configMagnetOffset(offset);
-    if(error == ErrorCode.OK)
+    if (error == ErrorCode.OK)
     {
       return true;
     }
-    DriverStation.reportWarning("Failure to set CANCoder " + encoder.getDeviceID() + " Absolute Encoder Offset Error: "+error, false);
+    DriverStation.reportWarning(
+        "Failure to set CANCoder " + encoder.getDeviceID() + " Absolute Encoder Offset Error: " + error, false);
     return false;
-   }
-   
+  }
+
   /**
    * Get the velocity in degrees/sec.
    *

src/main/java/swervelib/encoders/CanAndCoderSwerve.java

@@ -1,7 +1,6 @@
 package swervelib.encoders;
 
 import com.reduxrobotics.sensors.canandcoder.CANandcoder;
-
 import edu.wpi.first.wpilibj.DriverStation;
 
 /**
@@ -82,19 +81,19 @@ public Object getAbsoluteEncoder()
 
   /**
    * Cannot set the offset of the CanAndCoder.
-   * 
+   *
    * @param offset the offset the Absolute Encoder uses as the zero point.
-   * 
    * @return always false due to CanAndCoder not supporting offset changing.
    */
   @Override
   public boolean setAbsoluteEncoderOffset(double offset)
   {
     //CanAndCoder does not support Absolute Offset Changing
-    DriverStation.reportWarning("Cannot Set Absolute Encoder Offset of CanAndCoders ID: "+encoder.getAddress(), false);
+    DriverStation.reportWarning("Cannot Set Absolute Encoder Offset of CanAndCoders ID: " + encoder.getAddress(),
+                                false);
     return false;
   }
-  
+
   /**
    * Get the velocity in degrees/sec.
    *

src/main/java/swervelib/encoders/PWMDutyCycleEncoderSwerve.java

@@ -98,9 +98,8 @@ public void clearStickyFaults()
 
   /**
    * Sets the offset of the Encoder in the WPILib Encoder Library.
-   * 
+   *
    * @param offset the offset the Absolute Encoder uses as the zero point.
-   * 
    * @return Always true due to no external device commands.
    */
   @Override

src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java

@@ -108,27 +108,27 @@ public Object getAbsoluteEncoder()
 
   /**
    * Sets the Absolute Encoder Offset inside of the SparkMax's Memory.
-   * 
+   *
    * @param offset the offset the Absolute Encoder uses as the zero point.
-   * 
    * @return if setting Absolute Encoder Offset was successful or not.
    */
   @Override
   public boolean setAbsoluteEncoderOffset(double offset)
   {
     REVLibError error = null;
-    for(int i=0; i < maximumRetries; i++)
+    for (int i = 0; i < maximumRetries; i++)
     {
       error = encoder.setZeroOffset(offset);
-      if(error == REVLibError.kOk)
+      if (error == REVLibError.kOk)
       {
         return true;
       }
     }
-    DriverStation.reportWarning("Failure to set Absolute Encoder Offset Error: "+ error, false);
+    DriverStation.reportWarning("Failure to set Absolute Encoder Offset Error: " + error, false);
     return false;
   }
-  /** 
+
+  /**
    * Get the velocity in degrees/sec.
    *
    * @return velocity in degrees/sec.

src/main/java/swervelib/encoders/SwerveAbsoluteEncoder.java

@@ -48,13 +48,13 @@ public abstract class SwerveAbsoluteEncoder
 
   /**
    * Sets the Absolute Encoder offset at the Encoder Level.
-   * 
+   *
    * @param offset the offset the Absolute Encoder uses as the zero point.
-   * 
    * @return if setting Absolute Encoder Offset was successful or not.
    */
   public abstract boolean setAbsoluteEncoderOffset(double offset);
-  /*
+
+  /**
    * Get the velocity in degrees/sec.
    * @return velocity in degrees/sec.
    */