Clang-format drivetrain
Change-Id: I9e20a52ca97b968046969fa2c2e7f42b1fcbb1c3
diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.cc b/frc971/control_loops/drivetrain/ssdrivetrain.cc
index 12a6bcc..82c83d2 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.cc
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.cc
@@ -113,8 +113,8 @@
bool is_inside_h, is_inside_45;
const auto adjusted_pos_error_h =
DoCoerceGoal<double>(pos_poly_hv, LH, wh, drive_error, &is_inside_h);
- const auto adjusted_pos_error_45 =
- DoCoerceGoal<double>(pos_poly_hv, L45, w45, intersection, &is_inside_45);
+ const auto adjusted_pos_error_45 = DoCoerceGoal<double>(
+ pos_poly_hv, L45, w45, intersection, &is_inside_45);
if (pos_poly_hv.IsInside(intersection)) {
adjusted_pos_error = adjusted_pos_error_h;
} else {
@@ -131,8 +131,8 @@
}
}
- *U = -U_integral + velocity_K *velocity_error +
- position_K *T_ *adjusted_pos_error + kf_->ff_U();
+ *U = -U_integral + velocity_K * velocity_error +
+ position_K * T_ * adjusted_pos_error + kf_->ff_U();
if (!output_was_capped_) {
if ((*U - kf_->U_uncapped()).norm() > 0.0001) {