Run yapf on all python files in the repo
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I221e04c3f517fab8535b22551553799e0fee7a80
diff --git a/y2016/control_loops/python/arm.py b/y2016/control_loops/python/arm.py
index 3c47934..0b5d87c 100755
--- a/y2016/control_loops/python/arm.py
+++ b/y2016/control_loops/python/arm.py
@@ -44,8 +44,8 @@
self.A_continuous = numpy.matrix(numpy.zeros((4, 4)))
self.A_continuous[0:2, 0:2] = self._shoulder.A_continuous
- self.A_continuous[2:4, 0:2] = (
- self._shoulder.A_continuous - self._shooter.A_continuous)
+ self.A_continuous[2:4, 0:2] = (self._shoulder.A_continuous -
+ self._shooter.A_continuous)
self.A_continuous[2:4, 2:4] = self._shooter.A_continuous
self.B_continuous = numpy.matrix(numpy.zeros((4, 2)))
@@ -131,8 +131,11 @@
self.R[0, 0] = r_voltage**2.0
self.R[1, 1] = r_voltage**2.0
- self.KalmanGain, self.Q_steady = controls.kalman(
- A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+ self.KalmanGain, self.Q_steady = controls.kalman(A=self.A,
+ B=self.B,
+ C=self.C,
+ Q=self.Q,
+ R=self.R)
self.L = self.A * self.KalmanGain
self.U_max = numpy.matrix([[12.0], [12.0]])
@@ -182,8 +185,11 @@
self.R[0, 0] = r_pos**2.0
self.R[1, 1] = r_pos**2.0
- self.KalmanGain, self.Q_steady = controls.kalman(
- A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+ self.KalmanGain, self.Q_steady = controls.kalman(A=self.A,
+ B=self.B,
+ C=self.C,
+ Q=self.Q,
+ R=self.R)
self.L = self.A * self.KalmanGain
self.K_unaugmented = self.K
@@ -365,20 +371,19 @@
pylab.plot(self.t, self.x_shooter, label='x shooter')
pylab.plot(self.t, self.x_hat_shooter, label='x_hat shooter')
pylab.plot(self.t, self.goal_x_shooter, label='goal x shooter')
- pylab.plot(
- self.t,
- map(operator.add, self.x_shooter, self.x_shoulder),
- label='x shooter ground')
- pylab.plot(
- self.t,
- map(operator.add, self.x_hat_shooter, self.x_hat_shoulder),
- label='x_hat shooter ground')
+ pylab.plot(self.t,
+ map(operator.add, self.x_shooter, self.x_shoulder),
+ label='x shooter ground')
+ pylab.plot(self.t,
+ map(operator.add, self.x_hat_shooter, self.x_hat_shoulder),
+ label='x_hat shooter ground')
pylab.legend()
pylab.subplot(3, 1, 2)
pylab.plot(self.t, self.u_shoulder, label='u shoulder')
- pylab.plot(
- self.t, self.offset_shoulder, label='voltage_offset shoulder')
+ pylab.plot(self.t,
+ self.offset_shoulder,
+ label='voltage_offset shoulder')
pylab.plot(self.t, self.u_shooter, label='u shooter')
pylab.plot(self.t, self.offset_shooter, label='voltage_offset shooter')
pylab.legend()
@@ -401,8 +406,8 @@
J_decelerating = 7
arm = Arm(name='AcceleratingArm', J=J_accelerating)
- arm_integral_controller = IntegralArm(
- name='AcceleratingIntegralArm', J=J_accelerating)
+ arm_integral_controller = IntegralArm(name='AcceleratingIntegralArm',
+ J=J_accelerating)
arm_observer = IntegralArm()
# Test moving the shoulder with constant separation.
@@ -418,12 +423,11 @@
arm.X = initial_X[0:4, 0]
arm_observer.X = initial_X
- scenario_plotter.run_test(
- arm=arm,
- end_goal=R,
- iterations=300,
- controller=arm_integral_controller,
- observer=arm_observer)
+ scenario_plotter.run_test(arm=arm,
+ end_goal=R,
+ iterations=300,
+ controller=arm_integral_controller,
+ observer=arm_observer)
if len(argv) != 5:
glog.fatal(
@@ -432,8 +436,9 @@
else:
namespaces = ['y2016', 'control_loops', 'superstructure']
decelerating_arm = Arm(name='DeceleratingArm', J=J_decelerating)
- loop_writer = control_loop.ControlLoopWriter(
- 'Arm', [arm, decelerating_arm], namespaces=namespaces)
+ loop_writer = control_loop.ControlLoopWriter('Arm',
+ [arm, decelerating_arm],
+ namespaces=namespaces)
loop_writer.Write(argv[1], argv[2])
decelerating_integral_arm_controller = IntegralArm(