fix stuff

build.gradle

@@ -1,43 +1,43 @@
 plugins {
-	id "java"
-	id "edu.wpi.first.GradleRIO" version "2024.3.2"
-	id 'com.diffplug.spotless' version '6.25.0'
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id 'com.diffplug.spotless' version '6.25.0'
 }
 
 java {
-	sourceCompatibility = JavaVersion.VERSION_17
-	targetCompatibility = JavaVersion.VERSION_17
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
 }
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
-	targets {
-		roborio(getTargetTypeClass('RoboRIO')) {
-			// Team number is loaded either from the .wpilib/wpilib_preferences.json
-			// or from command line. If not found an exception will be thrown.
-			// You can use getTeamOrDefault(team) instead of getTeamNumber if you
-			// want to store a team number in this file.
-			team = project.frc.getTeamNumber()
-			debug = project.frc.getDebugOrDefault(false)
-
-			artifacts {
-				// First part is artifact name, 2nd is artifact type
-				// getTargetTypeClass is a shortcut to get the class type using a string
-
-				frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-				}
-
-				// Static files artifact
-				frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-					files = project.fileTree('src/main/deploy')
-					directory = '/home/lvuser/deploy'
-				}
-			}
-		}
-	}
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = project.frc.getTeamNumber()
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
+    }
 }
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
@@ -50,32 +50,32 @@ def includeDesktopSupport = false
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
-	implementation wpi.java.deps.wpilib()
-	implementation wpi.java.vendor.java()
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
 
-	roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
-	roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-	roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
-	roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
 
-	nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
-	nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
-	simulationDebug wpi.sim.enableDebug()
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
 
-	implementation 'gov.nist.math:jama:1.0.3'
+    implementation 'gov.nist.math:jama:1.0.3'
 
-	nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
-	nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
-	simulationRelease wpi.sim.enableRelease()
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
 
-	testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-	testRuntimeOnly 'org.junit.platform:junit-platform-launcher:1.10.1'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher:1.10.1'
 }
 
 test {
-	useJUnitPlatform()
-	systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -86,14 +86,14 @@ wpi.sim.addDriverstation()
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
 jar {
-	from {
-		configurations.runtimeClasspath.collect {
-			it.isDirectory() ? it : zipTree(it)
-		}
-	}
-	from sourceSets.main.allSource
-	manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-	duplicatesStrategy = DuplicatesStrategy.INCLUDE
+    from {
+        configurations.runtimeClasspath.collect {
+            it.isDirectory() ? it : zipTree(it)
+        }
+    }
+    from sourceSets.main.allSource
+    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
 // Configure jar and deploy tasks
@@ -103,7 +103,7 @@ wpi.java.configureTestTasks(test)
 
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
-	options.compilerArgs.add '-XDstringConcat=inline'
+    options.compilerArgs.add '-XDstringConcat=inline'
 }
 
 // Spotless formatting

settings.gradle

@@ -1,29 +1,29 @@
 import org.gradle.internal.os.OperatingSystem
 
 pluginManagement {
-	repositories {
-		mavenLocal()
-		gradlePluginPortal()
-		String frcYear = '2024'
-		File frcHome
-		if (OperatingSystem.current().isWindows()) {
-			String publicFolder = System.getenv('PUBLIC')
-			if (publicFolder == null) {
-				publicFolder = "C:\\Users\\Public"
-			}
-			def homeRoot = new File(publicFolder, "wpilib")
-			frcHome = new File(homeRoot, frcYear)
-		} else {
-			def userFolder = System.getProperty("user.home")
-			def homeRoot = new File(userFolder, "wpilib")
-			frcHome = new File(homeRoot, frcYear)
-		}
-		def frcHomeMaven = new File(frcHome, 'maven')
-		maven {
-			name 'frcHome'
-			url frcHomeMaven
-		}
-	}
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2024'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
 }
 
 Properties props = System.getProperties();

src/main/java/frc/robot/Robot.java

@@ -19,7 +19,7 @@
  */
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
-  private RobotContainer m_robotContainer
+  private RobotContainer m_robotContainer;
 
   /**
    * This function is run when the robot is first started up and should be used for any

src/main/java/frc/robot/extras/NoteDetector.java

@@ -15,7 +15,7 @@ public class NoteDetector {
   private static Pose2d notePos;
   private static BilinearInterpolator pixelLookupInterpolator;
 
-  public NoteDetector() {
+  private NoteDetector() {
     pixelLookupInterpolator = new BilinearInterpolator(VisionConstants.noteDetectionLookupTable);
   }
 

src/main/java/frc/robot/extras/swerve/SwerveSetpointGenerator.java

@@ -20,7 +20,7 @@
 import java.util.Optional;
 
 /**
- * <p>Takes a prior setpoint (ChassisSpeeds), a desired setpoint (from a driver, or from a path
+ * Takes a prior setpoint (ChassisSpeeds), a desired setpoint (from a driver, or from a path
  * follower), and outputs a new setpoint that respects all of the kinematic constraints on module
  * rotation speed and wheel velocity/acceleration. By generating a new setpoint every iteration, the
  * robot will converge to the desired setpoint quickly while avoiding any intermediate state that is