chore: Format.

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

@@ -64,7 +64,9 @@ private void configureBindings() {
 
     driverController.a().whileTrue(swerve.forwards());
     driverController.b().whileTrue(swerve.sideways());
-    driverController.y().onTrue(Commands.runOnce(() -> odometry.setRotation(Rotation2d.fromDegrees(0))));
+    driverController
+        .y()
+        .onTrue(Commands.runOnce(() -> odometry.setRotation(Rotation2d.fromDegrees(0))));
 
     operatorController.leftBumper().whileTrue(shooter.intake());
     operatorController.leftTrigger().whileTrue(shooter.smartIntake());

src/main/java/frc/robot/odometry/GyroscopeIOSim.java

@@ -1,10 +1,9 @@
 package frc.robot.odometry;
 
+import edu.wpi.first.math.util.Units;
 import frc.robot.RobotConstants;
 import java.util.function.DoubleSupplier;
 
-import edu.wpi.first.math.util.Units;
-
 /** Simulated gyroscope. */
 public class GyroscopeIOSim implements GyroscopeIO {
 

src/main/java/frc/robot/odometry/Odometry.java

@@ -118,7 +118,7 @@ public void setPosition(Pose2d position) {
 
   /**
    * Sets the rotation of the robot on the field.
-   * 
+   *
    * @param rotation the rotation of the robot on the field.
    */
   public void setRotation(Rotation2d rotation) {
@@ -148,6 +148,7 @@ public Twist2d getVelocity() {
         chassisSpeeds.vxMetersPerSecond * rotation.getSin()
             + chassisSpeeds.vyMetersPerSecond * rotation.getCos();
 
-    return new Twist2d(xVelocityMetersPerSecond, yVelocityMetersPerSecond, chassisSpeeds.omegaRadiansPerSecond);
+    return new Twist2d(
+        xVelocityMetersPerSecond, yVelocityMetersPerSecond, chassisSpeeds.omegaRadiansPerSecond);
   }
 }

src/main/java/frc/robot/swerve/Drive.java

@@ -92,7 +92,8 @@ public void execute() {
     double maxOmegaRadiansPerSecond = SwerveConstants.MAXIMUM_ROTATION_SPEED.getRadians();
 
     if (Math.abs(chassisSpeeds.omegaRadiansPerSecond) > maxOmegaRadiansPerSecond) {
-      chassisSpeeds.omegaRadiansPerSecond = Math.signum(chassisSpeeds.omegaRadiansPerSecond) * maxOmegaRadiansPerSecond;
+      chassisSpeeds.omegaRadiansPerSecond =
+          Math.signum(chassisSpeeds.omegaRadiansPerSecond) * maxOmegaRadiansPerSecond;
     }
 
     swerve.setChassisSpeeds(chassisSpeeds);

src/main/java/frc/robot/swerve/SteerMotorIOTalonFXPIDF.java

@@ -2,7 +2,6 @@
 
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.CoastOut;
 import com.ctre.phoenix6.controls.VoltageOut;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
@@ -56,17 +55,16 @@ public void configure() {
   public void setSetpoint(double positionRotations) {
     if (pidf.atGoal()) {
       // TODO Doesn't work for some reason...
-      //talonFX.setControl(new CoastOut());
-      //return;
-    } 
+      // talonFX.setControl(new CoastOut());
+      // return;
+    }
 
     Rotation2d measuredPosition =
         Rotation2d.fromRotations(
             BaseStatusSignal.getLatencyCompensatedValue(
                 this.positionRotations, this.velocityRotationsPerSecond));
 
-    double voltage =
-        pidf.calculate(measuredPosition, Rotation2d.fromRotations(positionRotations));
+    double voltage = pidf.calculate(measuredPosition, Rotation2d.fromRotations(positionRotations));
 
     talonFX.setControl(new VoltageOut(voltage));
   }