Clang-format drivetrain
Change-Id: I9e20a52ca97b968046969fa2c2e7f42b1fcbb1c3
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index 05d0d9e..423465a 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -183,8 +183,7 @@
enable_ = enable;
if (enable && current_trajectory_) {
::Eigen::Matrix<double, 2, 1> U_ff = ::Eigen::Matrix<double, 2, 1>::Zero();
- if (!IsAtEnd() &&
- current_spline_handle_ == current_spline_idx_) {
+ if (!IsAtEnd() && current_spline_handle_ == current_spline_idx_) {
has_started_execution_ = true;
// TODO(alex): It takes about a cycle for the outputs to propagate to the
// motors. Consider delaying the output by a cycle.
@@ -213,7 +212,7 @@
state_error(2, 0) = ::aos::math::NormalizeAngle(state_error(2, 0));
::Eigen::Matrix<double, 2, 1> U_fb = K * state_error;
- ::Eigen::Matrix<double, 2, 1> xv_state = current_xva_.block<2,1>(0,0);
+ ::Eigen::Matrix<double, 2, 1> xv_state = current_xva_.block<2, 1>(0, 0);
next_xva_ = current_trajectory_->GetNextXVA(dt_config_.dt, &xv_state);
next_U_ = U_ff + U_fb - voltage_error;
uncapped_U_ = next_U_;
@@ -237,9 +236,8 @@
output->right_voltage = next_U_(1);
}
-
void SplineDrivetrain::PopulateStatus(
- drivetrain::Status::Builder *builder) const {
+ drivetrain::Status::Builder *builder) const {
if (builder && enable_) {
builder->add_uncapped_left_voltage(uncapped_U_(0));
builder->add_uncapped_right_voltage(uncapped_U_(1));