commit d749d9303e35587ec837b9e36c4ff61b2db74d13
author Austin Schuh <austin.linux@gmail.com> Wed Dec 30 21:38:40 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Thu Dec 31 11:45:13 2020 -0800
tree 31be4f925d58c1fe4e4f57ad4e8f9bd4fdb45163
parent 39ceedff6523872a90ea3a79a5329478c344fa28

Clang-format drivetrain

Change-Id: I9e20a52ca97b968046969fa2c2e7f42b1fcbb1c3

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 13fee1a..5f2d3c4 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -1,7 +1,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 
-#include <stdio.h>
 #include <sched.h>
+#include <stdio.h>
 #include <cmath>
 #include <memory>
 #include "Eigen/Dense"
@@ -114,7 +114,8 @@
     down_estimator_.Reset();
     // Just reset the localizer to the current state, except for the encoders.
     LocalizerInterface::Ekf::State X_hat = localizer_->Xhat();
-    X_hat(LocalizerInterface::StateIdx::kLeftEncoder) = position->left_encoder();
+    X_hat(LocalizerInterface::StateIdx::kLeftEncoder) =
+        position->left_encoder();
     X_hat(LocalizerInterface::StateIdx::kRightEncoder) =
         position->right_encoder();
     localizer_->Reset(monotonic_now, X_hat);
@@ -264,9 +265,8 @@
       VLOG(1) << "localizer_control "
               << aos::FlatbufferToJson(localizer_control_fetcher_.get());
       localizer_->ResetPosition(
-          monotonic_now,
-          localizer_control_fetcher_->x(), localizer_control_fetcher_->y(),
-          localizer_control_fetcher_->theta(),
+          monotonic_now, localizer_control_fetcher_->x(),
+          localizer_control_fetcher_->y(), localizer_control_fetcher_->theta(),
           localizer_control_fetcher_->theta_uncertainty(),
           !localizer_control_fetcher_->keep_current_theta());
     }