From 48bbd291fe39704c859dff9fa2959556816f1ed2 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 16:31:28 -0600
Subject: [PATCH 01/44] Maybe autoformatter

---
 .github/workflows/spotless-autoformatter.yml | 31 ++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 .github/workflows/spotless-autoformatter.yml

diff --git a/.github/workflows/spotless-autoformatter.yml b/.github/workflows/spotless-autoformatter.yml
new file mode 100644
index 00000000..73c0d3d9
--- /dev/null
+++ b/.github/workflows/spotless-autoformatter.yml
@@ -0,0 +1,31 @@
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+# This workflow will build a Java project with Gradle and cache/restore any dependencies to improve the workflow execution time
+# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-java-with-gradle
+
+name: Autoformatter with Gradle
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events
+on: 
+  pull_request:
+  push:
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  spotless:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-22.04
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 17
+      - run: 
+          ./gradlew spotlessApply
+      

From a79649aaadc7a6c76cf29e28db552214064034af Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 16:35:43 -0600
Subject: [PATCH 02/44] "Broke it" FOR NOW on purpose (its only a check rn)

---
 .github/workflows/spotless-autoformatter.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/spotless-autoformatter.yml b/.github/workflows/spotless-autoformatter.yml
index 73c0d3d9..4c926623 100644
--- a/.github/workflows/spotless-autoformatter.yml
+++ b/.github/workflows/spotless-autoformatter.yml
@@ -27,5 +27,5 @@ jobs:
           distribution: 'zulu'
           java-version: 17
       - run: 
-          ./gradlew spotlessApply
+          ./gradlew spotlessCheck
       

From 87372f0422658a3c4db4613b4749933b705ca6ea Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 16:38:28 -0600
Subject: [PATCH 03/44] Added the manual format checker action bcs why not

---
 ...{spotless-autoformatter.yml => spotless-format check.yml} | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)
 rename .github/workflows/{spotless-autoformatter.yml => spotless-format check.yml} (94%)

diff --git a/.github/workflows/spotless-autoformatter.yml b/.github/workflows/spotless-format check.yml
similarity index 94%
rename from .github/workflows/spotless-autoformatter.yml
rename to .github/workflows/spotless-format check.yml
index 4c926623..64f17954 100644
--- a/.github/workflows/spotless-autoformatter.yml
+++ b/.github/workflows/spotless-format check.yml	
@@ -5,12 +5,11 @@
 # This workflow will build a Java project with Gradle and cache/restore any dependencies to improve the workflow execution time
 # For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-java-with-gradle
 
-name: Autoformatter with Gradle
+name: Manual spotless format check with Gradle
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events
 on: 
-  pull_request:
-  push:
+  workflow_dispatch
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
   spotless:

From 3f7b30380b08e986ab3a3a272ee3ee41f476a7ee Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 16:41:12 -0600
Subject: [PATCH 04/44] Rename gradle.yml to build-check.yml

---
 .github/workflows/{gradle.yml => build-check.yml} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename .github/workflows/{gradle.yml => build-check.yml} (100%)

diff --git a/.github/workflows/gradle.yml b/.github/workflows/build-check.yml
similarity index 100%
rename from .github/workflows/gradle.yml
rename to .github/workflows/build-check.yml

From 9fd6473b21164f5d9a97dd12bea419223ccdd5f6 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 16:41:43 -0600
Subject: [PATCH 05/44] Fix formatting of spotless format check workflow file

---
 .../{spotless-format check.yml => spotless-format-check.yml}    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)
 rename .github/workflows/{spotless-format check.yml => spotless-format-check.yml} (99%)

diff --git a/.github/workflows/spotless-format check.yml b/.github/workflows/spotless-format-check.yml
similarity index 99%
rename from .github/workflows/spotless-format check.yml
rename to .github/workflows/spotless-format-check.yml
index 64f17954..407eb208 100644
--- a/.github/workflows/spotless-format check.yml	
+++ b/.github/workflows/spotless-format-check.yml
@@ -8,7 +8,7 @@
 name: Manual spotless format check with Gradle
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events
-on: 
+on:
   workflow_dispatch
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:

From 3b0b91269374dff27d8f4dfc36145bfd9233d92a Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 16:48:17 -0600
Subject: [PATCH 06/44] Allow manual runs of build check

---
 .github/workflows/build-check.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-check.yml b/.github/workflows/build-check.yml
index 39536f90..9f3c55d5 100644
--- a/.github/workflows/build-check.yml
+++ b/.github/workflows/build-check.yml
@@ -8,11 +8,12 @@
 name: Java CI with Gradle, with basic WPILib integration
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events but only for the main branch.
-on:
+on: 
   push:
     branches: [ "main" ]
   pull_request:
     branches: [ "main" ]
+  workflow_dispatch:
 
 jobs:
   # This workflow contains a single job called "build"

From 4ac9b9ff51ce5474d1295a8c474623d4853191ea Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 17:01:57 -0600
Subject: [PATCH 07/44] got to a good wip state for now

RE: https://github.com/marketplace/actions/add-commit#automated-linting
---
 .github/workflows/spotless-format-check.yml | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 407eb208..05b4a6c5 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -18,13 +18,23 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v4
+      - name: checkout repo
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - name: setup java
+        uses: actions/setup-java@v4
         with:
           distribution: 'zulu'
           java-version: 17
-      - run: 
-          ./gradlew spotlessCheck
+      - name: check with spotless
+        run: ./gradlew spotlessCheck
+      - name: Commit changes
+        uses: EndBug/add-and-commit@v9
+        with:
+          author_name: Your Name
+          author_email: mail@example.com
+          message: 'Your commit message'
+          add: '*.java'
+        
       

From d41f813d396a752b05525119a385d5046a150679 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 17:03:36 -0600
Subject: [PATCH 08/44] made run on everything, DO NOT PULL OR USE THIS OUTSIDE
 THIS BRANCH FOR NOW

---
 .github/workflows/spotless-format-check.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 05b4a6c5..d884e2d5 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -5,11 +5,13 @@
 # This workflow will build a Java project with Gradle and cache/restore any dependencies to improve the workflow execution time
 # For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-java-with-gradle
 
-name: Manual spotless format check with Gradle
+name: Spotless format check with Gradle
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events
 on:
-  workflow_dispatch
+  workflow_dispatch:
+  pull_request:
+  push:
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
   spotless:

From b87f6a041a6ec15bfbd257531a4fe91d79e25f71 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 17:41:35 -0600
Subject: [PATCH 09/44] Add format-fixer workflow for Gradle spotless

---
 .github/workflows/format-fixer.yml | 39 ++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 .github/workflows/format-fixer.yml

diff --git a/.github/workflows/format-fixer.yml b/.github/workflows/format-fixer.yml
new file mode 100644
index 00000000..f99809cc
--- /dev/null
+++ b/.github/workflows/format-fixer.yml
@@ -0,0 +1,39 @@
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+
+name: Spotless format check with Gradle
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events
+on:
+  workflow_run: 
+    workflows: [Spotless format check with Gradle]
+    types: completed
+  
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  on-failure:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-22.04
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    if: ${{ github.event.workflow_run.conclusion == 'failure' }}
+    steps:
+      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+      - name: Checkout repo
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Setup java
+        uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 17
+      - name: Apply spotless
+        run: ./gradlew spotlessApply
+      - name: Commit changes
+        uses: EndBug/add-and-commit@v9
+        with:
+          message: 'Formatted code using spotless.'
+        
+      

From 7a4bfa208a3397697cd8970870aabf958f961f48 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 17:46:11 -0600
Subject: [PATCH 10/44] Refactor step names in spotless format check workflow

Updated step names for consistency and clarity in the workflow.
---
 .github/workflows/spotless-format-check.yml | 15 +++------------
 1 file changed, 3 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index d884e2d5..5c45596e 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -20,23 +20,14 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - name: checkout repo
+      - name: Checkout repo
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - name: setup java
+      - name: Setup Java
         uses: actions/setup-java@v4
         with:
           distribution: 'zulu'
           java-version: 17
-      - name: check with spotless
+      - name: Check with spotless
         run: ./gradlew spotlessCheck
-      - name: Commit changes
-        uses: EndBug/add-and-commit@v9
-        with:
-          author_name: Your Name
-          author_email: mail@example.com
-          message: 'Your commit message'
-          add: '*.java'
-        
-      

From 765cba93e2253cde5c7f0d35e2c8111f83ff4f13 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 17:47:47 -0600
Subject: [PATCH 11/44] Rename workflow to 'Spotless Format Fixer with Gradle'

---
 .github/workflows/format-fixer.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/format-fixer.yml b/.github/workflows/format-fixer.yml
index f99809cc..00a95a8c 100644
--- a/.github/workflows/format-fixer.yml
+++ b/.github/workflows/format-fixer.yml
@@ -3,7 +3,7 @@
 # separate terms of service, privacy policy, and support
 # documentation.
 
-name: Spotless format check with Gradle
+name: Spotless Format Fixer with Gradle
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events
 on:

From a9e247acdbe241fd69aee8dc3ac9d6688db85e05 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 17:57:37 -0600
Subject: [PATCH 12/44] this is formatted wrong and should be auto fixed

---
 src/main/java/frc/robot/subsystems/intake/Intake.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index 55874319..94e49bf7 100644
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -130,7 +130,7 @@ public void setIntakeState(IntakeState state)
             case Off -> Volts.zero();
         };
 
-        _intakeMotor.setVoltage(volts);
+                   _intakeMotor.setVoltage(volts);
 
         if (RobotBase.isSimulation())
         {

From ba5ef41e09b18c04831f093e183cc6cefe9b660c Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 18:08:08 -0600
Subject: [PATCH 13/44] No need for pull request check if every push does
 already

Removed pull_request trigger from workflow.
---
 .github/workflows/spotless-format-check.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 5c45596e..b0d0581b 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -10,7 +10,6 @@ name: Spotless format check with Gradle
 # events
 on:
   workflow_dispatch:
-  pull_request:
   push:
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:

From bb3222298b3f0748245b6f7721a3c05f2f2184b6 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 18:11:29 -0600
Subject: [PATCH 14/44] Only run against PRS, setup for another change

---
 .github/workflows/spotless-format-check.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index b0d0581b..06d0e837 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -10,7 +10,7 @@ name: Spotless format check with Gradle
 # events
 on:
   workflow_dispatch:
-  push:
+  pull_request:
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
   spotless:

From 13fd23266e8f60fc6a38a64a6af5900bb729b025 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 18:12:10 -0600
Subject: [PATCH 15/44] Set default author for commit in format-fixer.yml

---
 .github/workflows/format-fixer.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/format-fixer.yml b/.github/workflows/format-fixer.yml
index 00a95a8c..e1162d65 100644
--- a/.github/workflows/format-fixer.yml
+++ b/.github/workflows/format-fixer.yml
@@ -35,5 +35,4 @@ jobs:
         uses: EndBug/add-and-commit@v9
         with:
           message: 'Formatted code using spotless.'
-        
-      
+          default_author: github_actions

From f2fff8496f2b0b45e296157262be66d741c79552 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 18:29:51 -0600
Subject: [PATCH 16/44] wip attempt to combine the 2

---
 .github/workflows/spotless-format-check.yml | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 06d0e837..2a9bddfe 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -13,7 +13,7 @@ on:
   pull_request:
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
-  spotless:
+  spotless-check:
     # The type of runner that the job will run on
     runs-on: ubuntu-22.04
     # Steps represent a sequence of tasks that will be executed as part of the job
@@ -30,3 +30,16 @@ jobs:
           java-version: 17
       - name: Check with spotless
         run: ./gradlew spotlessCheck
+    fix-format:
+      runs-on: ubuntu-22.04
+      if: ${{ failure() }}
+      needs: [spotless-check]
+      steps:
+        name: Apply spotless
+        run: ./gradlew spotlessApply
+        name: Commit changes
+        uses: EndBug/add-and-commit@v9
+        with:
+          message: 'Formatted code using spotless.'
+          default_author: github_actions
+        

From dbca7eff86f3a31181cd9f44d29df079ee89828e Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 18:37:42 -0600
Subject: [PATCH 17/44] Delete .github/workflows/format-fixer.yml

---
 .github/workflows/format-fixer.yml | 38 ------------------------------
 1 file changed, 38 deletions(-)
 delete mode 100644 .github/workflows/format-fixer.yml

diff --git a/.github/workflows/format-fixer.yml b/.github/workflows/format-fixer.yml
deleted file mode 100644
index e1162d65..00000000
--- a/.github/workflows/format-fixer.yml
+++ /dev/null
@@ -1,38 +0,0 @@
-# This workflow uses actions that are not certified by GitHub.
-# They are provided by a third-party and are governed by
-# separate terms of service, privacy policy, and support
-# documentation.
-
-name: Spotless Format Fixer with Gradle
-# Controls when the action will run. Triggers the workflow on push or pull request
-# events
-on:
-  workflow_run: 
-    workflows: [Spotless format check with Gradle]
-    types: completed
-  
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
-jobs:
-  on-failure:
-    # The type of runner that the job will run on
-    runs-on: ubuntu-22.04
-    # Steps represent a sequence of tasks that will be executed as part of the job
-    if: ${{ github.event.workflow_run.conclusion == 'failure' }}
-    steps:
-      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - name: Checkout repo
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Setup java
-        uses: actions/setup-java@v4
-        with:
-          distribution: 'zulu'
-          java-version: 17
-      - name: Apply spotless
-        run: ./gradlew spotlessApply
-      - name: Commit changes
-        uses: EndBug/add-and-commit@v9
-        with:
-          message: 'Formatted code using spotless.'
-          default_author: github_actions

From 3973ce65f0267d4244f00fb4fc297a18c36a3e9b Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 18:39:59 -0600
Subject: [PATCH 18/44] Maybe got it working

---
 .github/workflows/spotless-format-check.yml | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 2a9bddfe..7984ed17 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -30,14 +30,10 @@ jobs:
           java-version: 17
       - name: Check with spotless
         run: ./gradlew spotlessCheck
-    fix-format:
-      runs-on: ubuntu-22.04
-      if: ${{ failure() }}
-      needs: [spotless-check]
-      steps:
-        name: Apply spotless
+      - name: Apply spotless if check fails
+        if: ${{ failure() }}
         run: ./gradlew spotlessApply
-        name: Commit changes
+      - name: Commit changes
         uses: EndBug/add-and-commit@v9
         with:
           message: 'Formatted code using spotless.'

From de23ce7e4726bb75fd88dd42015b311c1b248344 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 18:59:28 -0600
Subject: [PATCH 19/44] Add condition to commit changes on success

In theory this should make it run commit if it applied spotless but failed check
---
 .github/workflows/spotless-format-check.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 7984ed17..678c1954 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -34,6 +34,7 @@ jobs:
         if: ${{ failure() }}
         run: ./gradlew spotlessApply
       - name: Commit changes
+        if: ${{ success() }}
         uses: EndBug/add-and-commit@v9
         with:
           message: 'Formatted code using spotless.'

From 6ac8ffb0a6e9b35d895212eb560d5b4cc4648df0 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 19:02:38 -0600
Subject: [PATCH 20/44] Changed checkout version, changed commit action

This should in theory be faster and work.
---
 .github/workflows/spotless-format-check.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 678c1954..4b24de89 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -20,7 +20,7 @@ jobs:
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
       - name: Checkout repo
-        uses: actions/checkout@v4
+        uses: actions/checkout@v2
         with:
           fetch-depth: 0
       - name: Setup Java
@@ -35,8 +35,7 @@ jobs:
         run: ./gradlew spotlessApply
       - name: Commit changes
         if: ${{ success() }}
-        uses: EndBug/add-and-commit@v9
+        uses: actions-x/commit@v6
         with:
           message: 'Formatted code using spotless.'
-          default_author: github_actions
         

From 31527b6ea11b1c831ee98ec0fbb192854a0c7796 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 19:06:44 -0600
Subject: [PATCH 21/44] Modify spotless format check workflow

Comment out spotless check and success condition for commit.
---
 .github/workflows/spotless-format-check.yml | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 4b24de89..ee3ea935 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -28,14 +28,13 @@ jobs:
         with:
           distribution: 'zulu'
           java-version: 17
-      - name: Check with spotless
-        run: ./gradlew spotlessCheck
-      - name: Apply spotless if check fails
-        if: ${{ failure() }}
+      #- name: Check with spotless
+      #  run: ./gradlew spotlessCheck
+      - name: Apply spotless
+      #  if: ${{ failure() }}
         run: ./gradlew spotlessApply
       - name: Commit changes
-        if: ${{ success() }}
+      #  if: ${{ success() }}
         uses: actions-x/commit@v6
         with:
           message: 'Formatted code using spotless.'
-        

From 089a2c4ca77d8a069ef9b8c2071f09449a4ccc53 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 19:15:45 -0600
Subject: [PATCH 22/44] Spotless checks if commit fails

Failsafe, so it checks regardless
---
 .github/workflows/spotless-format-check.yml | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index ee3ea935..23001b9b 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -28,13 +28,12 @@ jobs:
         with:
           distribution: 'zulu'
           java-version: 17
-      #- name: Check with spotless
-      #  run: ./gradlew spotlessCheck
       - name: Apply spotless
-      #  if: ${{ failure() }}
         run: ./gradlew spotlessApply
       - name: Commit changes
-      #  if: ${{ success() }}
         uses: actions-x/commit@v6
         with:
           message: 'Formatted code using spotless.'
+      - name: Check with spotless
+        if: ${{failure() }}
+        run: ./gradlew spotlessCheck

From 1eff2cfdf10d9bcc818089ea77326e5c816c826d Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 19:21:38 -0600
Subject: [PATCH 23/44] Removed unneded with, update checkout version

This MIGHT make it work.
---
 .github/workflows/spotless-format-check.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 23001b9b..eaf9fd11 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -20,9 +20,7 @@ jobs:
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
       - name: Checkout repo
-        uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
+        uses: actions/checkout@v2.4.2
       - name: Setup Java
         uses: actions/setup-java@v4
         with:

From 8037752149e998b20afd9d5c2c5672598a95bed9 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 19:59:00 -0600
Subject: [PATCH 24/44] Possible final version

---
 .github/workflows/spotless-format-check.yml | 20 ++++++++++++++++----
 1 file changed, 16 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index eaf9fd11..c942c5fb 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -2,7 +2,7 @@
 # They are provided by a third-party and are governed by
 # separate terms of service, privacy policy, and support
 # documentation.
-# This workflow will build a Java project with Gradle and cache/restore any dependencies to improve the workflow execution time
+# This workflow will format a Java project with Gradle
 # For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-java-with-gradle
 
 name: Spotless format check with Gradle
@@ -19,8 +19,18 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - name: Checkout repo
-        uses: actions/checkout@v2.4.2
+      - name: Checkout repo (Pull Request)
+        #Checks if the event was trigged by a pull request, this step will be skipped if not.
+        if: ${{ github.event_name == 'pull_request' }}
+        uses: actions/checkout@v4
+        with:
+          #Sets up branch system properly per https://github.com/marketplace/actions/add-commit#working-with-prs
+          repository: ${{ github.event.pull_request.head.repo.full_name }}
+          ref: ${{ github.event.pull_request.head.ref }}
+      - name: Checkout repo (Manually Run)
+        #Checks if the previous step was skipped, only runs if so.
+        if: ${{cancelled() }}
+        uses: actions/checkout@v4
       - name: Setup Java
         uses: actions/setup-java@v4
         with:
@@ -29,9 +39,11 @@ jobs:
       - name: Apply spotless
         run: ./gradlew spotlessApply
       - name: Commit changes
-        uses: actions-x/commit@v6
+        uses: EndBug/add-and-commit@v9
         with:
+          default_author: github_actions
           message: 'Formatted code using spotless.'
       - name: Check with spotless
+        #This code only runs if changes could not be commited. This may occur if either applying changes did nothing, and ensures format validation regardless.
         if: ${{failure() }}
         run: ./gradlew spotlessCheck

From 4fe07679eda780dee8d6d9478508cbbc4f9f6f5d Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 23 Feb 2026 01:59:43 +0000
Subject: [PATCH 25/44] Formatted code using spotless.

---
 src/main/java/frc/robot/subsystems/intake/Intake.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index 94e49bf7..55874319 100644
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -130,7 +130,7 @@ public void setIntakeState(IntakeState state)
             case Off -> Volts.zero();
         };
 
-                   _intakeMotor.setVoltage(volts);
+        _intakeMotor.setVoltage(volts);
 
         if (RobotBase.isSimulation())
         {

From fa00de7d3095a0574c35a687e1f55abfb1f54f26 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:00:46 -0600
Subject: [PATCH 26/44] Created todelete.txt

This file is created to prevent empty commits.
---
 todelete.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 todelete.txt

diff --git a/todelete.txt b/todelete.txt
new file mode 100644
index 00000000..59a07def
--- /dev/null
+++ b/todelete.txt
@@ -0,0 +1 @@
+This file will be deleted. It is created to ensure it doesn't ALWAYS commit if no changes were made.

From 82a69079587d2cdfd45777f49f7b039495ed3d12 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:03:44 -0600
Subject: [PATCH 27/44] Made it more efficient

In theory, the commit code should only run if spotless was applied, which should only occur if check fails.
---
 .github/workflows/spotless-format-check.yml | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index c942c5fb..7ce80c8c 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -36,14 +36,15 @@ jobs:
         with:
           distribution: 'zulu'
           java-version: 17
+      - name: Check with spotless
+        run: ./gradlew spotlessCheck
       - name: Apply spotless
+        if: ${{failure() }}
         run: ./gradlew spotlessApply
       - name: Commit changes
+        if: ${{success() }}
         uses: EndBug/add-and-commit@v9
         with:
           default_author: github_actions
           message: 'Formatted code using spotless.'
-      - name: Check with spotless
-        #This code only runs if changes could not be commited. This may occur if either applying changes did nothing, and ensures format validation regardless.
-        if: ${{failure() }}
-        run: ./gradlew spotlessCheck
+      

From 46f5917f3fdc9fb4171d11342e5e051301527e5a Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:05:21 -0600
Subject: [PATCH 28/44] Update commit condition for spotless formatting

---
 .github/workflows/spotless-format-check.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index 7ce80c8c..b0f4d5a5 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -42,9 +42,8 @@ jobs:
         if: ${{failure() }}
         run: ./gradlew spotlessApply
       - name: Commit changes
-        if: ${{success() }}
+        if: ${{!cancelled() }}
         uses: EndBug/add-and-commit@v9
         with:
           default_author: github_actions
           message: 'Formatted code using spotless.'
-      

From 64a921de48fd537d31dcdf0e1d79c0e78415ccfc Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:11:07 -0600
Subject: [PATCH 29/44] Triggers on push to main, improved logic

---
 .github/workflows/spotless-format-check.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/spotless-format-check.yml
index b0f4d5a5..53b74e53 100644
--- a/.github/workflows/spotless-format-check.yml
+++ b/.github/workflows/spotless-format-check.yml
@@ -11,6 +11,8 @@ name: Spotless format check with Gradle
 on:
   workflow_dispatch:
   pull_request:
+  push:
+    branches: [main]
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
   spotless-check:
@@ -42,7 +44,7 @@ jobs:
         if: ${{failure() }}
         run: ./gradlew spotlessApply
       - name: Commit changes
-        if: ${{!cancelled() }}
+        if: ${{!cancelled() && success()}}
         uses: EndBug/add-and-commit@v9
         with:
           default_author: github_actions

From 73841ee247ea69e804440c8fe1d24f65f9a82b5f Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:12:41 -0600
Subject: [PATCH 30/44] Rename build-check.yml to Build Check.yml

---
 .github/workflows/{build-check.yml => Build Check.yml} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename .github/workflows/{build-check.yml => Build Check.yml} (100%)

diff --git a/.github/workflows/build-check.yml b/.github/workflows/Build Check.yml
similarity index 100%
rename from .github/workflows/build-check.yml
rename to .github/workflows/Build Check.yml

From 6d8532708d284f631771ce355282a9ffbac770d8 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:13:30 -0600
Subject: [PATCH 31/44] Rename spotless-format-check.yml to Formatter.yml

---
 .github/workflows/{spotless-format-check.yml => Formatter.yml} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename .github/workflows/{spotless-format-check.yml => Formatter.yml} (100%)

diff --git a/.github/workflows/spotless-format-check.yml b/.github/workflows/Formatter.yml
similarity index 100%
rename from .github/workflows/spotless-format-check.yml
rename to .github/workflows/Formatter.yml

From b9c28b1050a0d36e5dc733b571d165f4dfff3f0a Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:13:40 -0600
Subject: [PATCH 32/44] Rename Build Check.yml to Build Validation.yml

---
 .github/workflows/{Build Check.yml => Build Validation.yml} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename .github/workflows/{Build Check.yml => Build Validation.yml} (100%)

diff --git a/.github/workflows/Build Check.yml b/.github/workflows/Build Validation.yml
similarity index 100%
rename from .github/workflows/Build Check.yml
rename to .github/workflows/Build Validation.yml

From f0de31b7796299f546347f1ad3d142d4c9e7e7bd Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:20:54 -0600
Subject: [PATCH 33/44] Fixed logic, fixed manual usage.

---
 .github/workflows/Formatter.yml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/Formatter.yml b/.github/workflows/Formatter.yml
index 53b74e53..13f01d84 100644
--- a/.github/workflows/Formatter.yml
+++ b/.github/workflows/Formatter.yml
@@ -31,7 +31,7 @@ jobs:
           ref: ${{ github.event.pull_request.head.ref }}
       - name: Checkout repo (Manually Run)
         #Checks if the previous step was skipped, only runs if so.
-        if: ${{cancelled() }}
+        if: ${{github.event_name == 'workflow_dispatch' }}
         uses: actions/checkout@v4
       - name: Setup Java
         uses: actions/setup-java@v4
@@ -39,12 +39,13 @@ jobs:
           distribution: 'zulu'
           java-version: 17
       - name: Check with spotless
+        id: spot-check
         run: ./gradlew spotlessCheck
       - name: Apply spotless
         if: ${{failure() }}
         run: ./gradlew spotlessApply
       - name: Commit changes
-        if: ${{!cancelled() && success()}}
+        if: ${{steps.spot-check.conclusion == 'failure' }}
         uses: EndBug/add-and-commit@v9
         with:
           default_author: github_actions

From aba7b37c1b4ab88ff56c871a283e21eb34547635 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:22:04 -0600
Subject: [PATCH 34/44] Delete todelete.txt

---
 todelete.txt | 1 -
 1 file changed, 1 deletion(-)
 delete mode 100644 todelete.txt

diff --git a/todelete.txt b/todelete.txt
deleted file mode 100644
index 59a07def..00000000
--- a/todelete.txt
+++ /dev/null
@@ -1 +0,0 @@
-This file will be deleted. It is created to ensure it doesn't ALWAYS commit if no changes were made.

From 53e22af7fe75dd67a20a14686e3414ac2763439d Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:28:34 -0600
Subject: [PATCH 35/44] Demonstration of wrong formatting which will be fixed

---
 src/main/java/frc/robot/Main.java | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java
index bca283d6..48189eab 100644
--- a/src/main/java/frc/robot/Main.java
+++ b/src/main/java/frc/robot/Main.java
@@ -3,16 +3,23 @@
 // the WPILib BSD license file in the root directory of this project.
 package frc.robot;
 
-import edu.wpi.first.wpilibj.RobotBase;
+            import edu.wpi.first.wpilibj.RobotBase;
 
 public final class Main
 {
-    private Main()
+                        private Main()
     {
     }
 
+                                              
+    
     public static void main(String... args)
     {
-        RobotBase.startRobot(Robot::new);
+RobotBase.startRobot(Robot::new);
     }
 }
+
+
+
+
+

From 4bf8b5daaebcfc5d9df44850305c1ce98ff00c54 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:30:51 -0600
Subject: [PATCH 36/44] Update Formatter.yml

---
 .github/workflows/Formatter.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/Formatter.yml b/.github/workflows/Formatter.yml
index 13f01d84..81fcdea3 100644
--- a/.github/workflows/Formatter.yml
+++ b/.github/workflows/Formatter.yml
@@ -45,7 +45,7 @@ jobs:
         if: ${{failure() }}
         run: ./gradlew spotlessApply
       - name: Commit changes
-        if: ${{steps.spot-check.conclusion == 'failure' }}
+        if: ${{ failure() && steps.spot-check.conclusion == 'failure' }}
         uses: EndBug/add-and-commit@v9
         with:
           default_author: github_actions

From 99532a61ce1afc8cf9f7648ff4a7f6a095334b0b Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 23 Feb 2026 02:31:38 +0000
Subject: [PATCH 37/44] Formatted code using spotless.

---
 src/main/java/frc/robot/Main.java | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java
index 48189eab..bca283d6 100644
--- a/src/main/java/frc/robot/Main.java
+++ b/src/main/java/frc/robot/Main.java
@@ -3,23 +3,16 @@
 // the WPILib BSD license file in the root directory of this project.
 package frc.robot;
 
-            import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.RobotBase;
 
 public final class Main
 {
-                        private Main()
+    private Main()
     {
     }
 
-                                              
-    
     public static void main(String... args)
     {
-RobotBase.startRobot(Robot::new);
+        RobotBase.startRobot(Robot::new);
     }
 }
-
-
-
-
-

From 8b3db33e5741020eb9a9d3663ccffde5e73a83c1 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:36:27 -0600
Subject: [PATCH 38/44] Now it will properly fix stuff like this

---
 src/main/java/frc/robot/Constants.java | 33 ++++++++++++++++++++++++--
 1 file changed, 31 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 3967e70f..1f6a4589 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -10,11 +10,25 @@
 import static edu.wpi.first.units.Units.Milliseconds;
 import static edu.wpi.first.units.Units.Percent;
 import static edu.wpi.first.units.Units.Rotations;
+
+
+
+
+
+
+
+
+                
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
-import static edu.wpi.first.units.Units.Value;
+    import static edu.wpi.first.units.Units.Value;
 import static edu.wpi.first.units.Units.Volts;
 
+
+
+
+
+
 import java.util.List;
 import java.util.Map;
 
@@ -186,15 +200,30 @@ public static class VisionConstants
         public static final Rotation3d LEFT_CAMERA_ROTATION  = new Rotation3d(Degrees.of(0), Degrees.of(0), Degrees.of(-90));
         public static final Rotation3d RIGHT_CAMERA_ROTATION = new Rotation3d(Degrees.of(0), Degrees.of(0), Degrees.of(0));
 
-        // Camera offsets
+// Camera offsets
         public static final Pose3d LEFT_CAMERA_OFFSET  = new Pose3d(LEFT_CAMERA_TRANSLATION, LEFT_CAMERA_ROTATION);
         public static final Pose3d RIGHT_CAMERA_OFFSET = new Pose3d(RIGHT_CAMERA_TRANSLATION, RIGHT_CAMERA_ROTATION);
 
+
+
+
+        
         // Reject vision updates when spinning faster than this (MegaTag2 guidance)
         public static final AngularVelocity MAX_ANGULAR_RATE_FOR_VISION = DegreesPerSecond.of(720.0);
 
         // Reject vision updates when robot is tilted more than this (on ramp)
         public static final Angle MAX_TILT_FOR_VISION = Degrees.of(10.0); // TODO: find the correct value
+  
+    
+    
+    
+    
+    
+    
+    
+    
+    
+    
     }
 
     public static class ClimberConstants

From 597e2e10b4d34b08d8629f3eb6ab48dcf3de6016 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 23 Feb 2026 02:37:06 +0000
Subject: [PATCH 39/44] Formatted code using spotless.

---
 src/main/java/frc/robot/Constants.java | 32 ++------------------------
 1 file changed, 2 insertions(+), 30 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 1f6a4589..889a4145 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -11,24 +11,11 @@
 import static edu.wpi.first.units.Units.Percent;
 import static edu.wpi.first.units.Units.Rotations;
 
-
-
-
-
-
-
-
-                
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
-    import static edu.wpi.first.units.Units.Value;
+import static edu.wpi.first.units.Units.Value;
 import static edu.wpi.first.units.Units.Volts;
 
-
-
-
-
-
 import java.util.List;
 import java.util.Map;
 
@@ -200,30 +187,15 @@ public static class VisionConstants
         public static final Rotation3d LEFT_CAMERA_ROTATION  = new Rotation3d(Degrees.of(0), Degrees.of(0), Degrees.of(-90));
         public static final Rotation3d RIGHT_CAMERA_ROTATION = new Rotation3d(Degrees.of(0), Degrees.of(0), Degrees.of(0));
 
-// Camera offsets
+        // Camera offsets
         public static final Pose3d LEFT_CAMERA_OFFSET  = new Pose3d(LEFT_CAMERA_TRANSLATION, LEFT_CAMERA_ROTATION);
         public static final Pose3d RIGHT_CAMERA_OFFSET = new Pose3d(RIGHT_CAMERA_TRANSLATION, RIGHT_CAMERA_ROTATION);
 
-
-
-
-        
         // Reject vision updates when spinning faster than this (MegaTag2 guidance)
         public static final AngularVelocity MAX_ANGULAR_RATE_FOR_VISION = DegreesPerSecond.of(720.0);
 
         // Reject vision updates when robot is tilted more than this (on ramp)
         public static final Angle MAX_TILT_FOR_VISION = Degrees.of(10.0); // TODO: find the correct value
-  
-    
-    
-    
-    
-    
-    
-    
-    
-    
-    
     }
 
     public static class ClimberConstants

From 70268e1c4dd47af5384ec42faafb8b13e058f9a4 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 20:52:31 -0600
Subject: [PATCH 40/44] Fixed wording about an if statement in comments for CI

---
 .github/workflows/Formatter.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/Formatter.yml b/.github/workflows/Formatter.yml
index 81fcdea3..84e139eb 100644
--- a/.github/workflows/Formatter.yml
+++ b/.github/workflows/Formatter.yml
@@ -30,7 +30,7 @@ jobs:
           repository: ${{ github.event.pull_request.head.repo.full_name }}
           ref: ${{ github.event.pull_request.head.ref }}
       - name: Checkout repo (Manually Run)
-        #Checks if the previous step was skipped, only runs if so.
+        #Only runs if triggered manually
         if: ${{github.event_name == 'workflow_dispatch' }}
         uses: actions/checkout@v4
       - name: Setup Java

From e68e991b19a1df2dde6d2d79433a1db69ecf38a8 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Sun, 22 Feb 2026 21:02:50 -0600
Subject: [PATCH 41/44] accidentally added a properly formatted newline here

Just so I don't change anything that doesn't need it
---
 src/main/java/frc/robot/Constants.java | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 889a4145..3967e70f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -10,7 +10,6 @@
 import static edu.wpi.first.units.Units.Milliseconds;
 import static edu.wpi.first.units.Units.Percent;
 import static edu.wpi.first.units.Units.Rotations;
-
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
 import static edu.wpi.first.units.Units.Value;

From 0af1174d2ea7c445aa1ce7dfe9450749002e4b12 Mon Sep 17 00:00:00 2001
From: GreenStar <77800979+GreatGreenStar@users.noreply.github.com>
Date: Mon, 23 Feb 2026 20:35:52 -0600
Subject: [PATCH 42/44] messing with formatting

---
 src/main/java/frc/robot/subsystems/intake/Intake.java | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index 55874319..739a7add 100644
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -102,7 +102,7 @@ public void periodic()
     {
         super.periodic();
 
-        _intakeMotorVoltage = Volts.of(_intakeMotor.getAppliedOutput() * _intakeMotor.getBusVoltage());
+_intakeMotorVoltage=Volts.of(_intakeMotor.getAppliedOutput()*_intakeMotor.getBusVoltage());
     }
 
     @Override
@@ -116,17 +116,17 @@ public void simulationPeriodic()
 
     public void setIntakeState(IntakeState state)
     {
-        if (state != IntakeState.Off && !isExtended())
+        if (state!= IntakeState.Off && !isExtended())
         {
-            state = IntakeState.Off;
+            state =                 IntakeState.Off;
         }
 
         _intakeState = state;
 
-        var volts = switch (_intakeState)
+        var volts = switch          (_intakeState)
         {
             case Forward -> IntakeConstants.INTAKE_VOLTS;
-            case Reverse -> IntakeConstants.REVERSE_VOLTS;
+                        case Reverse -> IntakeConstants.REVERSE_VOLTS;
             case Off -> Volts.zero();
         };
 

From 957b3900279423d1aadab11212eccacdb3956e9a Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 24 Feb 2026 02:36:42 +0000
Subject: [PATCH 43/44] Formatted code using spotless.

---
 src/main/java/frc/robot/subsystems/intake/Intake.java | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index 739a7add..55874319 100644
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -102,7 +102,7 @@ public void periodic()
     {
         super.periodic();
 
-_intakeMotorVoltage=Volts.of(_intakeMotor.getAppliedOutput()*_intakeMotor.getBusVoltage());
+        _intakeMotorVoltage = Volts.of(_intakeMotor.getAppliedOutput() * _intakeMotor.getBusVoltage());
     }
 
     @Override
@@ -116,17 +116,17 @@ public void simulationPeriodic()
 
     public void setIntakeState(IntakeState state)
     {
-        if (state!= IntakeState.Off && !isExtended())
+        if (state != IntakeState.Off && !isExtended())
         {
-            state =                 IntakeState.Off;
+            state = IntakeState.Off;
         }
 
         _intakeState = state;
 
-        var volts = switch          (_intakeState)
+        var volts = switch (_intakeState)
         {
             case Forward -> IntakeConstants.INTAKE_VOLTS;
-                        case Reverse -> IntakeConstants.REVERSE_VOLTS;
+            case Reverse -> IntakeConstants.REVERSE_VOLTS;
             case Off -> Volts.zero();
         };
 

From b7b7af5e49826062a760e258ab8e81d7e79cb262 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 24 Feb 2026 02:47:20 +0000
Subject: [PATCH 44/44] Formatted code using spotless.

---
 src/main/java/frc/robot/TestHook.java         | 20 ++++++++++++----
 .../java/frc/robot/subsystems/Testing.java    | 24 +++++++++----------
 .../frc/robot/subsystems/intake/Intake.java   |  8 +++----
 3 files changed, 31 insertions(+), 21 deletions(-)

diff --git a/src/main/java/frc/robot/TestHook.java b/src/main/java/frc/robot/TestHook.java
index 9d3ad242..73699895 100644
--- a/src/main/java/frc/robot/TestHook.java
+++ b/src/main/java/frc/robot/TestHook.java
@@ -1,10 +1,20 @@
 package frc.robot;
 
-public class TestHook {
+public class TestHook
+{
+    public void stop()
+    {
+    }
 
-    public void stop() {}
-    public void setRate(double rate) {}
-    public void forward() {}
-    public void reverse() {}
+    public void setRate(double rate)
+    {
+    }
 
+    public void forward()
+    {
+    }
+
+    public void reverse()
+    {
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/Testing.java b/src/main/java/frc/robot/subsystems/Testing.java
index 9a20aa47..5ecb3d06 100644
--- a/src/main/java/frc/robot/subsystems/Testing.java
+++ b/src/main/java/frc/robot/subsystems/Testing.java
@@ -6,19 +6,19 @@
 import frc.robot.subsystems.shooter.Flywheel;
 import frc.robot.subsystems.shooter.Hood;
 
-public class Testing extends SubsystemBase 
+public class Testing extends SubsystemBase
 {
-    private final Intake _intake; 
-    private final Feeder _feeder; 
-    private final Flywheel _flywheel; 
-    private final Hood _hood; 
+    private final Intake   _intake;
+    private final Feeder   _feeder;
+    private final Flywheel _flywheel;
+    private final Hood     _hood;
 
-    public Testing() 
+    public Testing()
     {
-        _intake = new Intake(); 
-        _feeder = new Feeder(); 
-        _flywheel = new Flywheel(); 
-        _hood = new Hood(); 
+        _intake   = new Intake();
+        _feeder   = new Feeder();
+        _flywheel = new Flywheel();
+        _hood     = new Hood();
     }
 
     @Override
@@ -27,8 +27,8 @@ public void periodic()
 
     }
 
-    public void stopAll() 
+    public void stopAll()
     {
-        _intake.stopRollers(); 
+        _intake.stopRollers();
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index 55874319..7712c34a 100644
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -152,13 +152,13 @@ public void stop()
         }
 
         @Override
-        public void setRate(double rate) 
+        public void setRate(double rate)
         {
-            _intakeMotorVoltage.times(rate); 
+            _intakeMotorVoltage.times(rate);
         }
-        
+
         @Override
-        public void forward() 
+        public void forward()
         {
             setIntakeState(IntakeState.Forward);
         }