chore: Format.

src/main/java/frc/lib/controller/VelocityControllerIO.java

@@ -57,16 +57,12 @@ public static void addToShuffleboard(
     velocityController.addDouble(
         "Acceleration (dpsps)",
         () -> Units.rotationsToDegrees(values.accelerationRotationsPerSecondPerSecond));
+    velocityController.addDouble("Velocity (rps)", () -> values.velocityRotationsPerSecond);
     velocityController.addDouble(
-        "Velocity (rps)", () -> values.velocityRotationsPerSecond);
+        "Acceleration (rpsps)", () -> values.accelerationRotationsPerSecondPerSecond);
+    velocityController.addDouble("Velocity (rpm)", () -> values.velocityRotationsPerSecond * 60);
     velocityController.addDouble(
-        "Acceleration (rpsps)",
-        () -> values.accelerationRotationsPerSecondPerSecond);
-    velocityController.addDouble(
-        "Velocity (rpm)", () -> values.velocityRotationsPerSecond * 60);
-    velocityController.addDouble(
-        "Acceleration (rpmpm)",
-        () -> values.accelerationRotationsPerSecondPerSecond * 60);
+        "Acceleration (rpmpm)", () -> values.accelerationRotationsPerSecondPerSecond * 60);
     velocityController.addDouble("Voltage (V)", () -> values.motorVolts);
     velocityController.addDouble("Current (A)", () -> values.motorAmps);
   }

src/main/java/frc/robot/RobotContainer.java

@@ -1,7 +1,7 @@
 package frc.robot;
 
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -32,7 +32,7 @@ public class RobotContainer {
 
   private final CommandXboxController driverController, operatorController;
 
-  private final XboxController rumbleController; 
+  private final XboxController rumbleController;
 
   /** Creates a new instance of the robot container. */
   private RobotContainer() {
@@ -103,9 +103,7 @@ private void configureBindings() {
 
   public Command rumble(RumbleType side) {
     return Commands.startEnd(
-      () -> rumbleController.setRumble(side, 1),
-      () -> rumbleController.setRumble(side, 0)
-    );
+        () -> rumbleController.setRumble(side, 1), () -> rumbleController.setRumble(side, 0));
   }
 
   /**

src/main/java/frc/robot/arm/Arm.java

@@ -66,9 +66,7 @@ public void periodic() {
     setpoint =
         new ArmState(
             ShoulderConstants.MOTION_PROFILE.calculate(
-                dt,
-                setpoint.shoulderRotations(),
-                goal.shoulderRotations()));
+                dt, setpoint.shoulderRotations(), goal.shoulderRotations()));
 
     shoulder.setSetpoint(
         setpoint.shoulderRotations().position, setpoint.shoulderRotations().velocity);
@@ -78,7 +76,10 @@ public void periodic() {
   public void addToShuffleboard(ShuffleboardTab tab) {
     PositionControllerIO.addToShuffleboard(tab, "Shoulder", shoulderValues);
 
-    Telemetry.addColumn(tab, "Setpoint").addDouble("Setpoint (deg)", () -> Units.rotationsToDegrees(setpoint.shoulderRotations().position));
+    Telemetry.addColumn(tab, "Setpoint")
+        .addDouble(
+            "Setpoint (deg)",
+            () -> Units.rotationsToDegrees(setpoint.shoulderRotations().position));
   }
 
   public ArmState getState() {

src/main/java/frc/robot/arm/ArmState.java

@@ -5,7 +5,6 @@
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
 import edu.wpi.first.math.util.Units;
 import frc.robot.arm.ArmConstants.ShoulderConstants;
-
 import java.util.Objects;
 
 public record ArmState(State shoulderRotations) {
@@ -36,6 +35,8 @@ public ArmState(Rotation2d shoulder) {
 
   public boolean at(ArmState other) {
     return MathUtil.isNear(
-        shoulderRotations.position, other.shoulderRotations.position, Units.degreesToRotations(2.0));
+        shoulderRotations.position,
+        other.shoulderRotations.position,
+        Units.degreesToRotations(2.0));
   }
 }

src/main/java/frc/robot/intake/Intake.java

@@ -77,7 +77,7 @@ private boolean frontRollerStuck() {
   private boolean backRollerStuck() {
     return backRollerValues.motorAmps > BackRollerConstants.NOTE_AMPS;
   }
-  
+
   public IntakeState getState() {
     return new IntakeState(
         frontRollerValues.velocityRotationsPerSecond, backRollerValues.velocityRotationsPerSecond);

src/main/java/frc/robot/intake/IntakeState.java

@@ -3,17 +3,18 @@
 import edu.wpi.first.math.MathUtil;
 import frc.robot.intake.IntakeConstants.BackRollerConstants;
 import frc.robot.intake.IntakeConstants.FrontRollerConstants;
-
 import java.util.Objects;
 
 public record IntakeState(
     double frontRollerVelocityRotationsPerSecond, double backRollerVelocityRotationsPerSecond) {
 
   public static final IntakeState IDLE = new IntakeState(0, 0);
 
-  public static final IntakeState INTAKE = new IntakeState(FrontRollerConstants.INTAKE_SPEED, BackRollerConstants.INTAKE_SPEED);
+  public static final IntakeState INTAKE =
+      new IntakeState(FrontRollerConstants.INTAKE_SPEED, BackRollerConstants.INTAKE_SPEED);
 
-  public static final IntakeState EJECT = new IntakeState(FrontRollerConstants.EJECT_SPEED, BackRollerConstants.EJECT_SPEED);
+  public static final IntakeState EJECT =
+      new IntakeState(FrontRollerConstants.EJECT_SPEED, BackRollerConstants.EJECT_SPEED);
 
   public IntakeState {
     Objects.requireNonNull(frontRollerVelocityRotationsPerSecond);

src/main/java/frc/robot/shooter/Shooter.java

@@ -62,8 +62,12 @@ public void periodic() {
 
     setpoint = goal;
 
-    double flywheelSetpoint = FlywheelConstants.ACCELERATION_LIMITER.calculate(setpoint.flywheelVelocityRotationsPerSecond());
-    double serializerSetpoint = SerializerConstants.ACCELERATION_LIMITER.calculate(setpoint.serializerVelocityRotationsPerSecond());
+    double flywheelSetpoint =
+        FlywheelConstants.ACCELERATION_LIMITER.calculate(
+            setpoint.flywheelVelocityRotationsPerSecond());
+    double serializerSetpoint =
+        SerializerConstants.ACCELERATION_LIMITER.calculate(
+            setpoint.serializerVelocityRotationsPerSecond());
 
     flywheel.setSetpoint(flywheelSetpoint);
     serializer.setSetpoint(serializerSetpoint);
@@ -77,7 +81,7 @@ public void addToShuffleboard(ShuffleboardTab tab) {
 
   public Trigger serializedNote() {
     return new Trigger(() -> serializerValues.motorAmps > SerializerConstants.NOTE_AMPS);
-  } 
+  }
 
   public ShooterState getState() {
     return new ShooterState(

src/main/java/frc/robot/shooter/ShooterConstants.java

@@ -45,7 +45,8 @@ public static class SerializerConstants {
     /** Maximum speed in rotations per second. */
     public static final double MAXIMUM_SPEED = 45.319;
 
-    public static final SlewRateLimiter ACCELERATION_LIMITER = new SlewRateLimiter(MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.1));
+    public static final SlewRateLimiter ACCELERATION_LIMITER =
+        new SlewRateLimiter(MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.1));
 
     public static final double NOTE_AMPS = 20;
   }
@@ -88,6 +89,7 @@ public static class FlywheelConstants {
     /** Maximum speed in rotations per second. */
     public static final double MAXIMUM_SPEED = 60;
 
-    public static final SlewRateLimiter ACCELERATION_LIMITER = new SlewRateLimiter(MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.1));
+    public static final SlewRateLimiter ACCELERATION_LIMITER =
+        new SlewRateLimiter(MotionProfileCalculator.calculateAcceleration(MAXIMUM_SPEED, 0.1));
   }
 }

src/main/java/frc/robot/shooter/ShooterState.java

@@ -3,7 +3,6 @@
 import edu.wpi.first.math.MathUtil;
 import frc.robot.shooter.ShooterConstants.FlywheelConstants;
 import frc.robot.shooter.ShooterConstants.SerializerConstants;
-
 import java.util.Objects;
 
 public record ShooterState(
@@ -13,27 +12,35 @@ public record ShooterState(
 
   public static final ShooterState INTAKE = new ShooterState(0, SerializerConstants.INTAKE_SPEED);
 
-  public static final ShooterState PULL = new ShooterState(FlywheelConstants.PULL_SPEED, SerializerConstants.PULL_SPEED);
+  public static final ShooterState PULL =
+      new ShooterState(FlywheelConstants.PULL_SPEED, SerializerConstants.PULL_SPEED);
 
   public static final ShooterState EJECT = new ShooterState(0, SerializerConstants.EJECT_SPEED);
 
-  public static final ShooterState SPEAKER_READY = new ShooterState(FlywheelConstants.SPEAKER_SPEED, 0);
+  public static final ShooterState SPEAKER_READY =
+      new ShooterState(FlywheelConstants.SPEAKER_SPEED, 0);
 
-  public static final ShooterState SPEAKER_SHOOT = new ShooterState(FlywheelConstants.SPEAKER_SPEED, SerializerConstants.FAST_FEED_SPEED);
+  public static final ShooterState SPEAKER_SHOOT =
+      new ShooterState(FlywheelConstants.SPEAKER_SPEED, SerializerConstants.FAST_FEED_SPEED);
 
-  public static final ShooterState PODIUM_READY = new ShooterState(FlywheelConstants.PODIUM_SPEED, 0);
+  public static final ShooterState PODIUM_READY =
+      new ShooterState(FlywheelConstants.PODIUM_SPEED, 0);
 
-  public static final ShooterState PODIUM_SHOOT = new ShooterState(FlywheelConstants.PODIUM_SPEED, SerializerConstants.FAST_FEED_SPEED);
+  public static final ShooterState PODIUM_SHOOT =
+      new ShooterState(FlywheelConstants.PODIUM_SPEED, SerializerConstants.FAST_FEED_SPEED);
 
   public static final ShooterState LOB_READY = new ShooterState(FlywheelConstants.LOB_SPEED, 0);
 
-  public static final ShooterState LOB_SHOOT = new ShooterState(FlywheelConstants.LOB_SPEED, SerializerConstants.FAST_FEED_SPEED);
+  public static final ShooterState LOB_SHOOT =
+      new ShooterState(FlywheelConstants.LOB_SPEED, SerializerConstants.FAST_FEED_SPEED);
 
   public static final ShooterState SKIM_READY = new ShooterState(FlywheelConstants.SKIM_SPEED, 0);
 
-  public static final ShooterState SKIM_SHOOT = new ShooterState(FlywheelConstants.SKIM_SPEED, SerializerConstants.FAST_FEED_SPEED);
+  public static final ShooterState SKIM_SHOOT =
+      new ShooterState(FlywheelConstants.SKIM_SPEED, SerializerConstants.FAST_FEED_SPEED);
 
-  public static final ShooterState AMP_SHOOT = new ShooterState(FlywheelConstants.AMP_SPEED, SerializerConstants.SLOW_FEED_SPEED);
+  public static final ShooterState AMP_SHOOT =
+      new ShooterState(FlywheelConstants.AMP_SPEED, SerializerConstants.SLOW_FEED_SPEED);
 
   public ShooterState {
     Objects.requireNonNull(flywheelVelocityRotationsPerSecond);

src/main/java/frc/robot/superstructure/SuperstructureConstants.java

@@ -2,8 +2,7 @@
 
 public class SuperstructureConstants {
 
-    public static final double PULL_DURATION = 0.15;
-
-    public static final double EJECT_PAUSE = 0.25;
+  public static final double PULL_DURATION = 0.15;
 
+  public static final double EJECT_PAUSE = 0.25;
 }