Run yapf on all python files in the repo
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I221e04c3f517fab8535b22551553799e0fee7a80
diff --git a/y2018/control_loops/python/intake.py b/y2018/control_loops/python/intake.py
index 00f737b..92b7c7a 100755
--- a/y2018/control_loops/python/intake.py
+++ b/y2018/control_loops/python/intake.py
@@ -105,8 +105,11 @@
r_nm = 0.025
self.R = numpy.matrix(numpy.diag([(r_nm**2.0), (r_nm**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)
# The box formed by U_min and U_max must encompass all possible values,
# or else Austin's code gets angry.
@@ -181,8 +184,9 @@
self.R = numpy.matrix([[(1.0 / (12.0**2.0))]])
- self.K_transformed = controls.dlqr(
- self.A_transformed, self.B_transformed, self.Q_lqr, self.R)
+ self.K_transformed = controls.dlqr(self.A_transformed,
+ self.B_transformed, self.Q_lqr,
+ self.R)
# Write the controller back out in the absolute coordinate system.
self.K = numpy.hstack(
@@ -215,8 +219,11 @@
repr(numpy.linalg.eig(self.A - self.B * self.K)[0]),
self._name)
- 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.InitializeState()
@@ -359,11 +366,10 @@
observer_intake.X_hat[0, 0] = intake.X[0, 0]
# Test moving the intake with constant separation.
- scenario_plotter.run_test(
- intake,
- controller_intake=intake_controller,
- observer_intake=observer_intake,
- iterations=200)
+ scenario_plotter.run_test(intake,
+ controller_intake=intake_controller,
+ observer_intake=observer_intake,
+ iterations=200)
if FLAGS.plot:
scenario_plotter.Plot()
@@ -376,8 +382,8 @@
else:
namespaces = ['y2018', 'control_loops', 'superstructure', 'intake']
intake = Intake('Intake')
- loop_writer = control_loop.ControlLoopWriter(
- 'Intake', [intake], namespaces=namespaces)
+ loop_writer = control_loop.ControlLoopWriter('Intake', [intake],
+ namespaces=namespaces)
loop_writer.AddConstant(
control_loop.Constant('kGearRatio', '%f', intake.G))
loop_writer.AddConstant(
@@ -387,8 +393,9 @@
loop_writer.Write(argv[1], argv[2])
delayed_intake = DelayedIntake('DelayedIntake')
- loop_writer = control_loop.ControlLoopWriter(
- 'DelayedIntake', [delayed_intake], namespaces=namespaces)
+ loop_writer = control_loop.ControlLoopWriter('DelayedIntake',
+ [delayed_intake],
+ namespaces=namespaces)
loop_writer.Write(argv[3], argv[4])