commit 26f7ad05d38281916cd6e28ca5cf68852ba65c41
author Ravago Jones <ravagojones@gmail.com> Fri Feb 05 15:45:59 2021 -0800
committer Ravago Jones <ravagojones@gmail.com> Fri Feb 05 15:45:59 2021 -0800
tree 4571785950ab4b5307308824c82fb68a067f9f8c
parent c69e679873de9733ec0f0a8649607382593eaeaf

Run yapf on Spline UI

Change-Id: Id09023a4e651fd041ea5acc9814e441780307336

frc971/control_loops/python/angular_system.py

diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index 34f4307..7ccb4af 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -9,7 +9,6 @@
 
 
 class AngularSystemParams(object):
-
     def __init__(self,
                  name,
                  motor,
@@ -43,7 +42,6 @@
 
 
 class AngularSystem(control_loop.ControlLoop):
-
     def __init__(self, params, name="AngularSystem"):
         super(AngularSystem, self).__init__(name)
         self.params = params
@@ -125,7 +123,6 @@
 
 
 class IntegralAngularSystem(AngularSystem):
-
     def __init__(self, params, name="IntegralAngularSystem"):
         super(IntegralAngularSystem, self).__init__(params, name=name)
 
@@ -148,7 +145,8 @@
 
         self.Q = numpy.matrix([[(self.params.kalman_q_pos**2.0), 0.0, 0.0],
                                [0.0, (self.params.kalman_q_vel**2.0), 0.0],
-                               [0.0, 0.0, (self.params.kalman_q_voltage**2.0)]])
+                               [0.0, 0.0, (self.params.kalman_q_voltage
+                                           **2.0)]])
 
         self.R = numpy.matrix([[(self.params.kalman_r_position**2.0)]])
 
@@ -266,7 +264,8 @@
         goal = controller.A * goal + controller.B * ff_U
 
         if U[0, 0] != U_uncapped[0, 0]:
-            profile.MoveCurrentState(numpy.matrix([[goal[0, 0]], [goal[1, 0]]]))
+            profile.MoveCurrentState(
+                numpy.matrix([[goal[0, 0]], [goal[1, 0]]]))
 
     glog.debug('Time: %f', t_plot[-1])
     glog.debug('goal_error %s', repr(end_goal - goal))
@@ -399,8 +398,8 @@
             angular_systems.append(
                 AngularSystem(param, param.name + str(index)))
             integral_angular_systems.append(
-                IntegralAngularSystem(param, 'Integral' + param.name + str(
-                    index)))
+                IntegralAngularSystem(param,
+                                      'Integral' + param.name + str(index)))
     else:
         name = params.name
         angular_systems.append(AngularSystem(params, params.name))
@@ -412,8 +411,8 @@
     loop_writer.AddConstant(
         control_loop.Constant('kOutputRatio', '%f', angular_systems[0].G))
     loop_writer.AddConstant(
-        control_loop.Constant('kFreeSpeed', '%f', angular_systems[0]
-                              .motor.free_speed))
+        control_loop.Constant('kFreeSpeed', '%f',
+                              angular_systems[0].motor.free_speed))
     loop_writer.Write(plant_files[0], plant_files[1])
 
     integral_loop_writer = control_loop.ControlLoopWriter(