From 244be35526dbd5ae23fade3c611b47195e6e622b Mon Sep 17 00:00:00 2001
From: Ryan <90010729+Abhishrek05@users.noreply.github.com>
Date: Sat, 14 Jan 2023 15:33:12 -0700
Subject: [PATCH] fixes

---
 .../{AutoBalanceTF2.java => AutoBalance.java} |  0
 .../commands/PelvicInflamitoryDisease.java    | 76 +++++++++----------
 2 files changed, 38 insertions(+), 38 deletions(-)
 rename src/main/java/frc4388/robot/commands/{AutoBalanceTF2.java => AutoBalance.java} (100%)

diff --git a/src/main/java/frc4388/robot/commands/AutoBalanceTF2.java b/src/main/java/frc4388/robot/commands/AutoBalance.java
similarity index 100%
rename from src/main/java/frc4388/robot/commands/AutoBalanceTF2.java
rename to src/main/java/frc4388/robot/commands/AutoBalance.java
diff --git a/src/main/java/frc4388/robot/commands/PelvicInflamitoryDisease.java b/src/main/java/frc4388/robot/commands/PelvicInflamitoryDisease.java
index df24402..7fba701 100644
--- a/src/main/java/frc4388/robot/commands/PelvicInflamitoryDisease.java
+++ b/src/main/java/frc4388/robot/commands/PelvicInflamitoryDisease.java
@@ -8,46 +8,46 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.utility.Gains;
 
 public abstract class PelvicInflamitoryDisease extends CommandBase {
-;;;;protected Gains gains;
-;;;;private double output = 0;
+	protected Gains gains;
+	private double output = 0;
 
-;;;;/** Creates a new PelvicInflamitoryDisease. */
-;;;;public PelvicInflamitoryDisease(double kp, double ki, double kd, double kf) {
-;;;;;;;;gains = new Gains(kp, ki, kd, kf, 0);
-;;;;}
+	/** Creates a new PelvicInflamitoryDisease. */
+	public PelvicInflamitoryDisease(double kp, double ki, double kd, double kf) {
+		gains = new Gains(kp, ki, kd, kf, 0);
+	}
 
-;;;;public PelvicInflamitoryDisease(Gains gains) {
-;;;;;;;;this.gains = gains;
-;;;;}
+	public PelvicInflamitoryDisease(Gains gains) {
+		this.gains = gains;
+	}
 
-;;;;/** produces the error from the setpoint */
-;;;;public abstract double getError();
-;;;;/** figure it out bitch */
-;;;;public abstract void runWithOutput(double output);
+	/** produces the error from the setpoint */
+	public abstract double getError();
+	/** figure it out bitch */
+	public abstract void runWithOutput(double output);
 
-;;;;// Called when the command is initially scheduled.
-;;;;@Override public void initialize() {
-;;;;;;;;output = 0;
-;;;;}
-
-;;;;private double prevError, cumError = 0;
-;;;;// Called every time the scheduler runs while the command is scheduled.
-;;;;@Override public void execute() {
-;;;;;;;;double error = getError();
-;;;;;;;;cumError += error * .02; // 20 ms
-;;;;;;;;double delta = error - prevError;
-
-;;;;;;;;output = error * gains.kP;
-;;;;;;;;output += cumError * gains.kI;
-;;;;;;;;output += delta * gains.kD;
-;;;;;;;;output += gains.kF;
-
-;;;;;;;;runWithOutput(output);
-;;;;}
-
-;;;;// Called once the command ends or is interrupted.
-;;;;@Override public void end(boolean interrupted) {}
-
-;;;;// Returns true when the command should end.
-;;;;@Override public boolean isFinished() { return false; }
+// Called when the command is initially scheduled.
+@Override public void initialize() {
+output = 0;
+}
+
+private double prevError, cumError = 0;
+// Called every time the scheduler runs while the command is scheduled.
+@Override public void execute() {
+double error = getError();
+cumError += error * .02; // 20 ms
+double delta = error - prevError;
+
+output = error * gains.kP;
+output += cumError * gains.kI;
+output += delta * gains.kD;
+output += gains.kF;
+
+		runWithOutput(output);
+	}
+
+	// Called once the command ends or is interrupted.
+	@Override public void end(boolean interrupted) {}
+
+	// Returns true when the command should end.
+	@Override public boolean isFinished() { return false; }
 }