Run clang-format on the entire repo
This patch clang-formats the entire repo. Third-party code is
excluded.
I needed to fix up the .clang-format file so that all the header
includes are ordered properly. I could have sworn that it used to work
without the extra modification, but I guess not.
Signed-off-by: Philipp Schrader <philipp.schrader@gmail.com>
Change-Id: I64bb9f2c795401393f9dfe2fefc4f04cb36b52f6
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index 1440aee..a31ac5d 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -79,8 +79,7 @@
goal_builder.add_left_goal(left_current + side_distance_change);
goal_builder.add_right_goal(right_current - side_distance_change);
- if (builder.Send(goal_builder.Finish()) !=
- aos::RawSender::Error::kOk) {
+ if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(WARNING, "sending drivetrain goal failed\n");
}
}
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 1ca3ef2..9284bea 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -10,9 +10,10 @@
#endif
#include "absl/base/call_once.h"
+#include "glog/logging.h"
+
#include "aos/network/team_number.h"
#include "aos/stl_mutex/stl_mutex.h"
-#include "glog/logging.h"
#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2016/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
diff --git a/y2016/control_loops/shooter/shooter.h b/y2016/control_loops/shooter/shooter.h
index c29869c..5aaa1c0 100644
--- a/y2016/control_loops/shooter/shooter.h
+++ b/y2016/control_loops/shooter/shooter.h
@@ -3,9 +3,9 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/events/event_loop.h"
#include "aos/time/time.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2016/control_loops/shooter/shooter_goal_generated.h"
#include "y2016/control_loops/shooter/shooter_integral_plant.h"
diff --git a/y2016/control_loops/shooter/shooter_lib_test.cc b/y2016/control_loops/shooter/shooter_lib_test.cc
index 1ae51fb..1a82b9b 100644
--- a/y2016/control_loops/shooter/shooter_lib_test.cc
+++ b/y2016/control_loops/shooter/shooter_lib_test.cc
@@ -3,9 +3,10 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2016/control_loops/shooter/shooter.h"
#include "y2016/control_loops/shooter/shooter_goal_generated.h"
#include "y2016/control_loops/shooter/shooter_output_generated.h"
@@ -173,8 +174,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(0.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(dt() * 3 / 2);
@@ -195,8 +195,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(450.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(1));
@@ -207,8 +206,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(0.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Make sure we don't apply voltage on spin-down.
@@ -234,8 +232,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(20.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Cause problems by adding a voltage error on one side.
shooter_plant_.set_right_voltage_offset(-4.0);
@@ -272,8 +269,7 @@
auto builder = shooter_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_angular_velocity(200.0);
- EXPECT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ EXPECT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
EXPECT_TRUE(shooter_output_fetcher_.Fetch());
diff --git a/y2016/control_loops/shooter/shooter_main.cc b/y2016/control_loops/shooter/shooter_main.cc
index 0c88ba8..7703bae 100644
--- a/y2016/control_loops/shooter/shooter_main.cc
+++ b/y2016/control_loops/shooter/shooter_main.cc
@@ -1,7 +1,6 @@
-#include "y2016/control_loops/shooter/shooter.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2016/control_loops/shooter/shooter.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 48da666..d22e885 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -3,8 +3,8 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/util/trapezoid_profile.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/zeroing/zeroing.h"
#include "y2016/control_loops/superstructure/superstructure_controls.h"
diff --git a/y2016/control_loops/superstructure/superstructure_controls.h b/y2016/control_loops/superstructure/superstructure_controls.h
index a73883b..a827c00 100644
--- a/y2016/control_loops/superstructure/superstructure_controls.h
+++ b/y2016/control_loops/superstructure/superstructure_controls.h
@@ -3,12 +3,11 @@
#include <memory>
-#include "frc971/control_loops/control_loop.h"
#include "aos/util/trapezoid_profile.h"
+#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/profiled_subsystem.h"
#include "frc971/control_loops/simple_capped_state_feedback_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
-
#include "frc971/zeroing/zeroing.h"
#include "y2016/control_loops/superstructure/integral_arm_plant.h"
#include "y2016/control_loops/superstructure/superstructure_position_generated.h"
@@ -105,7 +104,6 @@
Intake();
};
-
class Arm : public ::frc971::control_loops::ProfiledSubsystem<6, 2> {
public:
Arm();
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index c5e71c5..9609cd0 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -3,12 +3,13 @@
#include <chrono>
#include <memory>
+#include "gtest/gtest.h"
+
#include "aos/commonmath.h"
#include "aos/time/time.h"
#include "frc971/control_loops/control_loop_test.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "gtest/gtest.h"
#include "y2016/constants.h"
#include "y2016/control_loops/superstructure/arm_plant.h"
#include "y2016/control_loops/superstructure/intake_plant.h"
@@ -418,8 +419,7 @@
goal_builder.add_max_angular_acceleration_intake(20);
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -442,8 +442,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Give it a lot of time to get there.
@@ -469,8 +468,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -497,8 +495,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -526,8 +523,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -556,8 +552,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(10));
@@ -592,8 +587,7 @@
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.upper);
goal_builder.add_angle_wrist(constants::Values::kWristRange.upper +
constants::Values::kShoulderRange.upper);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// We have to wait for it to put the elevator in a safe position as well.
RunFor(chrono::seconds(15));
@@ -616,8 +610,7 @@
goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// We have to wait for it to put the superstructure in a safe position as
// well.
@@ -642,8 +635,7 @@
goal_builder.add_angle_intake(constants::Values::kIntakeRange.lower + 0.3);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.upper);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(15));
@@ -669,8 +661,7 @@
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower +
0.03);
goal_builder.add_angle_wrist(constants::Values::kWristRange.lower + 0.03);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::milliseconds(100));
@@ -708,8 +699,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Expected states to cycle through and check in order.
@@ -781,8 +771,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Expected states to cycle through and check in order.
@@ -859,8 +848,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(0.0);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
@@ -884,8 +872,7 @@
goal_builder.add_angle_shoulder(
constants::Values::kShoulderEncoderIndexDifference * 10);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Run disabled for 2 seconds
@@ -940,8 +927,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -961,8 +947,7 @@
goal_builder.add_max_angular_acceleration_shoulder(1);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// TODO(austin): The profile isn't feasible, so when we try to track it, we
@@ -991,8 +976,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1012,8 +996,7 @@
goal_builder.add_max_angular_acceleration_shoulder(1);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_acceleration(1.20);
@@ -1040,8 +1023,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1062,8 +1044,7 @@
goal_builder.add_max_angular_acceleration_shoulder(1);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(1);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_acceleration(1.05);
@@ -1091,8 +1072,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1113,8 +1093,7 @@
goal_builder.add_max_angular_acceleration_shoulder(100);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(100);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(4.65);
@@ -1141,8 +1120,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1162,8 +1140,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(1);
goal_builder.add_max_angular_acceleration_wrist(100);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(1.0);
@@ -1191,8 +1168,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1213,8 +1189,7 @@
goal_builder.add_max_angular_acceleration_shoulder(1.0);
goal_builder.add_max_angular_velocity_wrist(10.0);
goal_builder.add_max_angular_acceleration_wrist(160.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
superstructure_plant_.set_peak_intake_velocity(1.0);
@@ -1242,8 +1217,7 @@
goal_builder.add_angle_shoulder(
constants::Values::kShoulderRange.lower); // Down
goal_builder.add_angle_wrist(0.0); // Stowed
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(15));
@@ -1255,8 +1229,7 @@
constants::Values::kIntakeRange.upper); // stowed
goal_builder.add_angle_shoulder(M_PI / 4.0); // in the collision area
goal_builder.add_angle_wrist(M_PI / 2.0); // down
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1288,8 +1261,7 @@
constants::Values::kIntakeRange.upper); // stowed
goal_builder.add_angle_shoulder(M_PI / 2.0); // in the collision area
goal_builder.add_angle_wrist(M_PI); // forward
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(5));
@@ -1310,8 +1282,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(0.0);
goal_builder.add_angle_wrist(M_PI); // intentionally asking for forward
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(15));
@@ -1338,8 +1309,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(M_PI * 0.5);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1380,8 +1350,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1425,8 +1394,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(constants::Values::kShoulderRange.lower);
goal_builder.add_angle_wrist(0.0); // intentionally asking for forward
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(6));
@@ -1455,8 +1423,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(M_PI * 0.25);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
@@ -1473,8 +1440,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Wait until we hit the transition point.
@@ -1498,8 +1464,7 @@
goal_builder.add_angle_intake(0.0);
goal_builder.add_angle_shoulder(0.0);
goal_builder.add_angle_wrist(0.0);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
RunFor(chrono::seconds(8));
@@ -1516,8 +1481,7 @@
goal_builder.add_max_angular_acceleration_shoulder(20);
goal_builder.add_max_angular_velocity_wrist(20);
goal_builder.add_max_angular_acceleration_wrist(20);
- ASSERT_EQ(builder.Send(goal_builder.Finish()),
- aos::RawSender::Error::kOk);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
// Wait until we hit the transition point.
diff --git a/y2016/control_loops/superstructure/superstructure_main.cc b/y2016/control_loops/superstructure/superstructure_main.cc
index ff25ae1..ba962af 100644
--- a/y2016/control_loops/superstructure/superstructure_main.cc
+++ b/y2016/control_loops/superstructure/superstructure_main.cc
@@ -1,7 +1,6 @@
-#include "y2016/control_loops/superstructure/superstructure.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
+#include "y2016/control_loops/superstructure/superstructure.h"
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index a7cc821..56b10d7 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -8,9 +8,6 @@
#include <thread>
#include <vector>
-#include "internal/Embedded.h"
-#include "seasocks/Server.h"
-
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
@@ -20,6 +17,8 @@
#include "aos/time/time.h"
#include "aos/util/phased_loop.h"
#include "frc971/autonomous/auto_mode_generated.h"
+#include "internal/Embedded.h"
+#include "seasocks/Server.h"
#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
#include "y2016/queues/ball_detector_generated.h"
#include "y2016/vision/vision_generated.h"
diff --git a/y2016/dashboard/dashboard.h b/y2016/dashboard/dashboard.h
index b4d5034..9b6414e 100644
--- a/y2016/dashboard/dashboard.h
+++ b/y2016/dashboard/dashboard.h
@@ -9,15 +9,14 @@
#include <thread>
#include <vector>
-#include "seasocks/PageHandler.h"
-#include "seasocks/PrintfLogger.h"
-#include "seasocks/StringUtil.h"
-#include "seasocks/WebSocket.h"
-
#include "aos/events/event_loop.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "frc971/autonomous/auto_mode_generated.h"
+#include "seasocks/PageHandler.h"
+#include "seasocks/PrintfLogger.h"
+#include "seasocks/StringUtil.h"
+#include "seasocks/WebSocket.h"
#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
#include "y2016/queues/ball_detector_generated.h"
#include "y2016/vision/vision_generated.h"
diff --git a/y2016/vision/blob_filters.cc b/y2016/vision/blob_filters.cc
index 860fa80..0193ef6 100644
--- a/y2016/vision/blob_filters.cc
+++ b/y2016/vision/blob_filters.cc
@@ -1,4 +1,5 @@
#include "y2016/vision/blob_filters.h"
+
#include <unistd.h>
namespace aos {
@@ -75,7 +76,7 @@
if (do_overlay_) {
for (FittedLine &line : lines) {
overlay_->AddLine(Vector<2>(line.st.x, line.st.y),
- Vector<2>(line.ed.x, line.ed.y), {255, 0, 0});
+ Vector<2>(line.ed.x, line.ed.y), {255, 0, 0});
}
}
diff --git a/y2016/vision/stereo_geometry.h b/y2016/vision/stereo_geometry.h
index f1ffe51..c18abc5 100644
--- a/y2016/vision/stereo_geometry.h
+++ b/y2016/vision/stereo_geometry.h
@@ -5,7 +5,6 @@
#include "aos/logging/logging.h"
#include "aos/vision/math/vector.h"
-
#include "y2016/vision/calibration.pb.h"
namespace y2016 {