Updated formatting.

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

src/main/java/swervelib/SwerveDrive.java

@@ -66,6 +66,10 @@ public class SwerveDrive
    * Odometry lock to ensure thread safety.
    */
   private final Lock                     odometryLock                                    = new ReentrantLock();
+  /**
+   * Deadband for speeds in heading correction.
+   */
+  private final double                   HEADING_CORRECTION_DEADBAND                     = 0.01;
   /**
    * Field object.
    */
@@ -99,14 +103,14 @@ public class SwerveDrive
    * correction.
    */
   public        boolean                  chassisVelocityCorrection                       = true;
-  /**
-   * Whether heading correction PID is currently active.
-   */
-  private       boolean                  correctionEnabled                               = false;
   /**
    * Whether to correct heading when driving translationally. Set to true to enable.
    */
   public        boolean                  headingCorrection                               = false;
+  /**
+   * Whether heading correction PID is currently active.
+   */
+  private       boolean                  correctionEnabled                               = false;
   /**
    * Swerve IMU device for sensing the heading of the robot.
    */
@@ -119,10 +123,6 @@ public class SwerveDrive
    * Counter to synchronize the modules relative encoder with absolute encoder when not moving.
    */
   private       int                      moduleSynchronizationCounter                    = 0;
-  /**
-   * Deadband for speeds in heading correction.
-   */
-  private final double                   HEADING_CORRECTION_DEADBAND                     = 0.01;
   /**
    * The last heading set in radians.
    */
@@ -412,10 +412,10 @@ public void drive(ChassisSpeeds velocity, boolean isOpenLoop, Translation2d cent
     if (headingCorrection)
     {
       if (Math.abs(velocity.omegaRadiansPerSecond) < HEADING_CORRECTION_DEADBAND
-          && (Math.abs(velocity.vxMetersPerSecond) > HEADING_CORRECTION_DEADBAND 
-          || Math.abs(velocity.vyMetersPerSecond) > HEADING_CORRECTION_DEADBAND)) 
+          && (Math.abs(velocity.vxMetersPerSecond) > HEADING_CORRECTION_DEADBAND
+              || Math.abs(velocity.vyMetersPerSecond) > HEADING_CORRECTION_DEADBAND))
       {
-        if (!correctionEnabled) 
+        if (!correctionEnabled)
         {
           lastHeadingRadians = getYaw().getRadians();
           correctionEnabled = true;

src/main/java/swervelib/SwerveModule.java

@@ -64,11 +64,17 @@ public class SwerveModule
   /**
    * An {@link Alert} for if pushing the Absolute Encoder offset to the encoder fails.
    */
-  private       Alert                  encoderOffsetWarning = new Alert("Motors", "Pushing the Absolute Encoder offset to the encoder failed on module #" + moduleNumber, Alert.AlertType.WARNING);
+  private       Alert                  encoderOffsetWarning     = new Alert("Motors",
+                                                                            "Pushing the Absolute Encoder offset to the encoder failed on module #" +
+                                                                            moduleNumber,
+                                                                            Alert.AlertType.WARNING);
   /**
    * An {@link Alert} for if there is no Absolute Encoder on the module.
    */
-  private       Alert                  noEncoderWarning = new Alert("Motors", "There is no Absolute Encoder on module #" + moduleNumber, Alert.AlertType.WARNING);
+  private       Alert                  noEncoderWarning         = new Alert("Motors",
+                                                                            "There is no Absolute Encoder on module #" +
+                                                                            moduleNumber,
+                                                                            Alert.AlertType.WARNING);
 
   /**
    * Construct the swerve module and initialize the swerve module motors and absolute encoder.
@@ -405,10 +411,12 @@ public void pushOffsetsToControllers()
       if (absoluteEncoder.setAbsoluteEncoderOffset(angleOffset))
       {
         angleOffset = 0;
-      } else {
+      } else
+      {
         encoderOffsetWarning.set(true);
       }
-    } else {
+    } else
+    {
       noEncoderWarning.set(true);
     }
   }

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

@@ -18,14 +18,18 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
   /**
    * Inversion state of the encoder.
    */
-  private boolean     inverted = false;
-  /** An {@link Alert} for if the absolute encoder offset cannot be set. */
-  private Alert cannotSetOffset = new Alert(
+  private boolean     inverted             = false;
+  /**
+   * An {@link Alert} for if the absolute encoder offset cannot be set.
+   */
+  private Alert       cannotSetOffset      = new Alert(
       "Encoders",
       "Cannot Set Absolute Encoder Offset of Analog Encoders Channel #" + encoder.getChannel(),
       Alert.AlertType.WARNING);
-  /** An {@link Alert} detailing how the analog absolute encoder may not report accurate velocities. */
-  private Alert inaccurateVelocities = new Alert(
+  /**
+   * An {@link Alert} detailing how the analog absolute encoder may not report accurate velocities.
+   */
+  private Alert       inaccurateVelocities = new Alert(
       "Encoders",
       "The Analog Absolute encoder may not report accurate velocities!",
       Alert.AlertType.WARNING_TRACE);

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

@@ -20,28 +20,36 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
   /**
    * CANCoder with WPILib sendable and support.
    */
-  public CANcoder encoder;
-  /** An {@link Alert} for if the CANCoder magnet field is less than ideal. */
-  private Alert magnetFieldLessThanIdeal = new Alert(
+  public  CANcoder encoder;
+  /**
+   * An {@link Alert} for if the CANCoder magnet field is less than ideal.
+   */
+  private Alert    magnetFieldLessThanIdeal = new Alert(
       "Encoders",
       "CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.",
       Alert.AlertType.WARNING);
-  /** An {@link Alert} for if the CANCoder reading is faulty. */
-  private Alert readingFaulty = new Alert(
+  /**
+   * An {@link Alert} for if the CANCoder reading is faulty.
+   */
+  private Alert    readingFaulty            = new Alert(
       "Encoders",
       "CANCoder " + encoder.getDeviceID() + " reading was faulty.",
       Alert.AlertType.WARNING);
-  /** An {@link Alert} for if the CANCoder reading is faulty and the reading is ignored. */
-  private Alert readingIgnored = new Alert(
+  /**
+   * An {@link Alert} for if the CANCoder reading is faulty and the reading is ignored.
+   */
+  private Alert    readingIgnored           = new Alert(
       "Encoders",
       "CANCoder " + encoder.getDeviceID() + " reading was faulty, ignoring.",
       Alert.AlertType.WARNING);
-  /** An {@link Alert} for if the absolute encoder offset cannot be set. */
-  private Alert cannotSetOffset = new Alert(
+  /**
+   * An {@link Alert} for if the absolute encoder offset cannot be set.
+   */
+  private Alert    cannotSetOffset          = new Alert(
       "Encoders",
       "Failure to set CANCoder "
-          + encoder.getDeviceID()
-          + " Absolute Encoder Offset",
+      + encoder.getDeviceID()
+      + " Absolute Encoder Offset",
       Alert.AlertType.WARNING);
 
   /**
@@ -111,16 +119,13 @@ public double getAbsolutePosition()
     readingError = false;
     MagnetHealthValue strength = encoder.getMagnetHealth().getValue();
 
-    if (strength != MagnetHealthValue.Magnet_Green)
-    {
-      magnetFieldLessThanIdeal.set(true);
-    } else magnetFieldLessThanIdeal.set(false);
+    magnetFieldLessThanIdeal.set(strength != MagnetHealthValue.Magnet_Green);
     if (strength == MagnetHealthValue.Magnet_Invalid || strength == MagnetHealthValue.Magnet_Red)
     {
       readingError = true;
       readingFaulty.set(true);
       return 0;
-    }else
+    } else
     {
       readingFaulty.set(false);
     }
@@ -141,7 +146,10 @@ public double getAbsolutePosition()
     {
       readingError = true;
       readingIgnored.set(true);
-    } else readingIgnored.set(false);
+    } else
+    {
+      readingIgnored.set(false);
+    }
 
     return angle.getValue() * 360;
   }
@@ -176,10 +184,11 @@ public boolean setAbsoluteEncoderOffset(double offset)
     error = cfg.apply(magCfg.withMagnetOffset(offset / 360));
     cannotSetOffset.setText(
         "Failure to set CANCoder "
-            + encoder.getDeviceID()
-            + " Absolute Encoder Offset Error: "
-            + error);
-    if (error == StatusCode.OK) {
+        + encoder.getDeviceID()
+        + " Absolute Encoder Offset Error: "
+        + error);
+    if (error == StatusCode.OK)
+    {
       cannotSetOffset.set(false);
       return true;
     }

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

@@ -25,7 +25,7 @@ public CanAndCoderSwerve(int canid)
 
   /**
    * Reset the encoder to factory defaults.
-   * 
+   * <p>
    * This will not clear the stored zero offset.
    */
   @Override

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

@@ -22,8 +22,10 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
    * Inversion state.
    */
   private       boolean          isInverted;
-  /** An {@link Alert}  for if the encoder cannot report accurate velocities. */
-  private Alert inaccurateVelocities = new Alert(
+  /**
+   * An {@link Alert}  for if the encoder cannot report accurate velocities.
+   */
+  private       Alert            inaccurateVelocities = new Alert(
       "Encoders",
       "The PWM Duty Cycle encoder may not report accurate velocities!",
       Alert.AlertType.WARNING_TRACE);

src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java

@@ -4,7 +4,6 @@
 import com.revrobotics.REVLibError;
 import com.revrobotics.SparkAnalogSensor;
 import com.revrobotics.SparkAnalogSensor.Mode;
-
 import java.util.function.Supplier;
 import swervelib.motors.SwerveMotor;
 import swervelib.telemetry.Alert;
@@ -18,14 +17,18 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
   /**
    * The {@link SparkAnalogSensor} representing the duty cycle encoder attached to the SparkMax analog port.
    */
-  public SparkAnalogSensor encoder;
-  /** An {@link Alert} for if there is a failure configuring the encoder. */
-  private Alert failureConfiguring = new Alert(
+  public  SparkAnalogSensor encoder;
+  /**
+   * An {@link Alert} for if there is a failure configuring the encoder.
+   */
+  private Alert             failureConfiguring              = new Alert(
       "Encoders",
       "Failure configuring SparkMax Analog Encoder",
       Alert.AlertType.WARNING_TRACE);
-  /** An {@link Alert} for if the absolute encoder does not support integrated offsets. */
-  private Alert doesNotSupportIntegratedOffsets = new Alert(
+  /**
+   * An {@link Alert} for if the absolute encoder does not support integrated offsets.
+   */
+  private Alert             doesNotSupportIntegratedOffsets = new Alert(
       "Encoders",
       "SparkMax Analog Sensors do not support integrated offsets",
       Alert.AlertType.WARNING_TRACE);

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

@@ -4,7 +4,6 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.REVLibError;
 import com.revrobotics.SparkAbsoluteEncoder.Type;
-
 import java.util.function.Supplier;
 import swervelib.motors.SwerveMotor;
 import swervelib.telemetry.Alert;
@@ -18,13 +17,15 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
   /**
    * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to the SparkMax.
    */
-  public AbsoluteEncoder encoder;
-  /** An {@link Alert} for if there is a failure configuring the encoder. */
-  private Alert failureConfiguring = new Alert(
+  public  AbsoluteEncoder encoder;
+  /**
+   * An {@link Alert} for if there is a failure configuring the encoder.
+   */
+  private Alert           failureConfiguring = new Alert(
       "Encoders",
       "Failure configuring SparkMax Analog Encoder",
       Alert.AlertType.WARNING_TRACE);
-  private Alert offsetFailure = new Alert(
+  private Alert           offsetFailure      = new Alert(
       "Encoders",
       "Failure to set Absolute Encoder Offset",
       Alert.AlertType.WARNING_TRACE);

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

@@ -56,6 +56,7 @@ public abstract class SwerveAbsoluteEncoder
 
   /**
    * Get the velocity in degrees/sec.
+   *
    * @return velocity in degrees/sec.
    */
   public abstract double getVelocity();

src/main/java/swervelib/imu/ADIS16470Swerve.java

@@ -2,8 +2,8 @@
 
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
 import edu.wpi.first.wpilibj.ADIS16470_IMU;
+import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.util.Optional;
 

src/main/java/swervelib/imu/NavXSwerve.java

@@ -7,9 +7,8 @@
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.SerialPort;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import swervelib.telemetry.Alert;
-
 import java.util.Optional;
+import swervelib.telemetry.Alert;
 
 /**
  * Communicates with the NavX as the IMU.
@@ -24,8 +23,10 @@ public class NavXSwerve extends SwerveIMU
   /**
    * Offset for the NavX.
    */
-  private Rotation3d offset = new Rotation3d();
-  /** An {@link Alert} for if there is an error instantiating the NavX. */
+  private Rotation3d offset    = new Rotation3d();
+  /**
+   * An {@link Alert} for if there is an error instantiating the NavX.
+   */
   private Alert      navXError = new Alert("IMU", "Error instantiating NavX.", Alert.AlertType.ERROR_TRACE);
 
   /**

src/main/java/swervelib/imu/Pigeon2Swerve.java

@@ -88,11 +88,14 @@ public void setOffset(Rotation3d offset)
   public Rotation3d getRawRotation3d()
   {
     // TODO: Switch to suppliers.
-    StatusSignal<Double> w    = imu.getQuatW();
-    StatusSignal<Double> x    = imu.getQuatX();
-    StatusSignal<Double> y    = imu.getQuatY();
-    StatusSignal<Double> z    = imu.getQuatZ();
-    return new Rotation3d(new Quaternion(w.refresh().getValue(), x.refresh().getValue(), y.refresh().getValue(), z.refresh().getValue()));
+    StatusSignal<Double> w = imu.getQuatW();
+    StatusSignal<Double> x = imu.getQuatX();
+    StatusSignal<Double> y = imu.getQuatY();
+    StatusSignal<Double> z = imu.getQuatZ();
+    return new Rotation3d(new Quaternion(w.refresh().getValue(),
+                                         x.refresh().getValue(),
+                                         y.refresh().getValue(),
+                                         z.refresh().getValue()));
   }
 
   /**
@@ -120,7 +123,9 @@ public Optional<Translation3d> getAccel()
     StatusSignal<Double> yAcc = imu.getAccelerationX();
     StatusSignal<Double> zAcc = imu.getAccelerationX();
 
-    return Optional.of(new Translation3d(xAcc.refresh().getValue(), yAcc.refresh().getValue(), zAcc.refresh().getValue()).times(9.81 / 16384.0));
+    return Optional.of(new Translation3d(xAcc.refresh().getValue(),
+                                         yAcc.refresh().getValue(),
+                                         zAcc.refresh().getValue()).times(9.81 / 16384.0));
   }
 
   /**