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Author: pjreiniger

examples/robot/DifferentialDriveBot/drivetrain.py

@@ -68,7 +68,9 @@ def __init__(self) -> None:
             self.rightEncoder.getDistance(),
         )
 
-    def setVelocities(self, velocities: wpimath.DifferentialDriveWheelVelocities) -> None:
+    def setVelocities(
+        self, velocities: wpimath.DifferentialDriveWheelVelocities
+    ) -> None:
         """Sets the desired wheel velocities.
 
         :param velocities: The desired wheel velocities.

examples/robot/DifferentialDrivePoseEstimator/drivetrain.py

@@ -111,7 +111,9 @@ def __init__(self, cameraToObjectTopic: ntcore.DoubleArrayTopic) -> None:
         wpilib.SmartDashboard.putData("Field", self.fieldSim)
         wpilib.SmartDashboard.putData("FieldEstimation", self.fieldApproximation)
 
-    def setVelocities(self, velocities: wpimath.DifferentialDriveWheelVelocities) -> None:
+    def setVelocities(
+        self, velocities: wpimath.DifferentialDriveWheelVelocities
+    ) -> None:
         """Sets the desired wheel velocities.
 
         :param velocities: The desired wheel velocities.

examples/robot/HatchbotTraditional/commands/complexauto.py

@@ -30,6 +30,8 @@ def __init__(self, drive: DriveSubsystem, hatch: HatchSubsystem):
             ReleaseHatch(hatch),
             # Drive backward the specified distance
             DriveDistance(
-                constants.kAutoBackupDistanceInches, -constants.kAutoDriveVelocity, drive
+                constants.kAutoBackupDistanceInches,
+                -constants.kAutoDriveVelocity,
+                drive,
             ),
         )

examples/robot/MecanumBot/drivetrain.py

@@ -114,7 +114,9 @@ def drive(
         """Method to drive the robot using joystick info."""
         chassisVelocities = wpimath.ChassisVelocities(xVelocity, yVelocity, rot)
         if fieldRelative:
-            chassisVelocities = chassisVelocities.toRobotRelative(self.imu.getRotation2d())
+            chassisVelocities = chassisVelocities.toRobotRelative(
+                self.imu.getRotation2d()
+            )
 
         self.setVelocities(
             self.kinematics.toWheelVelocities(

examples/robot/MecanumDrivePoseEstimator/drivetrain.py

@@ -144,9 +144,9 @@ def drive(
                 self.poseEstimator.getEstimatedPosition().rotation()
             )
         self.setVelocities(
-            self.kinematics.toWheelVelocities(chassisVelocities.discretize(period)).desaturate(
-                self.kMaxVelocity
-            )
+            self.kinematics.toWheelVelocities(
+                chassisVelocities.discretize(period)
+            ).desaturate(self.kMaxVelocity)
         )
 
     def updateOdometry(self) -> None:

examples/robot/SimpleDifferentialDriveSimulation/drivetrain.py

@@ -88,7 +88,9 @@ def __init__(self) -> None:
         self.rightLeader.setInverted(True)
         wpilib.SmartDashboard.putData("Field", self.fieldSim)
 
-    def setVelocities(self, velocities: wpimath.DifferentialDriveWheelVelocities) -> None:
+    def setVelocities(
+        self, velocities: wpimath.DifferentialDriveWheelVelocities
+    ) -> None:
         """Sets velocities to the drivetrain motors."""
         leftFeedforward = self.feedforward.calculate(velocities.left)
         rightFeedforward = self.feedforward.calculate(velocities.right)
@@ -109,7 +111,9 @@ def drive(self, xVelocity: float, rot: float) -> None:
         :param rot: the rotation
         """
         self.setVelocities(
-            self.kinematics.toWheelVelocities(wpimath.ChassisVelocities(xVelocity, 0, rot))
+            self.kinematics.toWheelVelocities(
+                wpimath.ChassisVelocities(xVelocity, 0, rot)
+            )
         )
 
     def updateOdometry(self) -> None:

examples/robot/StateSpaceArm/robot.py

@@ -35,7 +35,9 @@ def __init__(self) -> None:
         self.profile = wpimath.TrapezoidProfile(
             wpimath.TrapezoidProfile.Constraints(
                 wpimath.units.degreesToRadians(45),
-                wpimath.units.degreesToRadians(90),  # Max arm velocity and acceleration.
+                wpimath.units.degreesToRadians(
+                    90
+                ),  # Max arm velocity and acceleration.
             )
         )
 

examples/robot/StateSpaceElevator/robot.py

@@ -39,7 +39,9 @@ def __init__(self) -> None:
         self.profile = wpimath.TrapezoidProfile(
             wpimath.TrapezoidProfile.Constraints(
                 wpimath.units.feetToMeters(3.0),
-                wpimath.units.feetToMeters(6.0),  # Max elevator velocity and acceleration.
+                wpimath.units.feetToMeters(
+                    6.0
+                ),  # Max elevator velocity and acceleration.
             )
         )
 

examples/robot/SwerveBot/drivetrain.py

@@ -69,7 +69,9 @@ def drive(
         """
         robot_velocities = wpimath.ChassisVelocities(xVelocity, yVelocity, rot)
         if fieldRelative:
-            robot_velocities = robot_velocities.toRobotRelative(self.imu.getRotation2d())
+            robot_velocities = robot_velocities.toRobotRelative(
+                self.imu.getRotation2d()
+            )
 
         swerveModuleStates = self.kinematics.toSwerveModuleVelocities(
             wpimath.ChassisVelocities.discretize(robot_velocities, periodSeconds)

examples/robot/SwerveDrivePoseEstimator/drivetrain.py

@@ -82,7 +82,9 @@ def drive(
         chassisVelocities = chassisVelocities.discretize(period)
 
         states = self.kinematics.toSwerveModuleVelocities(chassisVelocities)
-        wpimath.SwerveDrive4Kinematics.desaturateWheelVelocities(states, self.kMaxVelocity)
+        wpimath.SwerveDrive4Kinematics.desaturateWheelVelocities(
+            states, self.kMaxVelocity
+        )
 
         self.frontLeft.setDesiredVelocity(states[0])
         self.frontRight.setDesiredVelocity(states[1])