Fix style, fix unit tests

FRC-1721 · Mar 5, 2024 · 52780b9 · 52780b9
1 parent 5f4d07a
commit 52780b9
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Showing 5 changed files with 11 additions and 7 deletions.
diff --git a/rio/commands/intakeRotationMAN.py b/rio/commands/intakeRotationMAN.py
@@ -4,7 +4,7 @@
 
 
 class IntakeRotationMAN(commands2.Command):
-    def __init__(self, angle: float, _intake:IntakeSubsystem):
+    def __init__(self, angle: float, _intake: IntakeSubsystem):
         """
         allows people to rotate the intake
         """

diff --git a/rio/commands/manualRot.py b/rio/commands/manualRot.py
@@ -2,6 +2,7 @@
 
 from subsystems.shooter import Shooter
 
+
 class manualROT(commands2.Command):
     def __init__(self, speed, _shooter: Shooter):
         super().__init__()
@@ -11,7 +12,7 @@ def __init__(self, speed, _shooter: Shooter):
 
         # requested speed
         self.speed = speed
-        
+
         # Command requirements
         self.addRequirements(self.subsystem)
 

diff --git a/rio/commands/setIntakeSpeed.py b/rio/commands/setIntakeSpeed.py
@@ -19,7 +19,7 @@ def __init__(self, speed: float, _intake: IntakeSubsystem):
 
         # Command requirements
         self.addRequirements(self.intakeSubsystem)
-        
+
     def initialize(self):
         logging.debug(f"Running command Intake Suck (manual) with speed {self.speed}")
 
@@ -32,7 +32,7 @@ def execute(self):
 
     def isFinished(self):
         return True
-    
+
     def end(self, interrupted: bool):
         logging.debug(f"Intake suck done")
         return True
diff --git a/rio/commands/shooterROT.py b/rio/commands/shooterROT.py
@@ -13,7 +13,7 @@ def __init__(self, angle: float, _shooter: Shooter):
 
         # requested speed
         self.angle = angle
-        
+
         # Command requirements
         self.addRequirements(self.subsystem)
 

diff --git a/rio/subsystems/drivesubsystem.py b/rio/subsystems/drivesubsystem.py
@@ -161,7 +161,10 @@ def drive(
         xSpeed: float,
         ySpeed: float,
         rot: float,
-        fieldRelative: typing.Callable,
+        fieldRelative: typing.Callable[
+            [],
+            bool,
+        ],
         rateLimit: bool,
     ) -> None:
         """Method to drive the robot using joystick info.
@@ -252,7 +255,7 @@ def drive(
                 rotDelivered,
                 Rotation2d.fromDegrees(self.gyro.getAngle()),
             )
-            if fieldRelative()
+            if fieldRelative
             else ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered)
         )
         fl, fr, rl, rr = SwerveDrive4Kinematics.desaturateWheelSpeeds(