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[wpimath] Make swerve and differential kinematics functions immutable (#8274)

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Originally started with just swerve, but expanded to diff and mecanum
(docs only) for parity across the drivetrains. Return value checks are
applied when possible to make migration easier and to error loudly if
people forget.

---------

Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
This commit is contained in:
Gold856
2026-04-17 00:23:32 -04:00
committed by GitHub
parent 8c80cdcf28
commit 056d7bcbbe
34 changed files with 396 additions and 394 deletions
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23
robotpyExamples/SwerveBot/drivetrain.py
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@@ -67,22 +67,23 @@ class Drivetrain:
:param fieldRelative: Whether the provided x and y velocities are relative to the field.
:param periodSeconds: Time
"""
robot_velocities = wpimath.ChassisVelocities(xVelocity, yVelocity, rot)
chassisVelocities = wpimath.ChassisVelocities(xVelocity, yVelocity, rot)
if fieldRelative:
robot_velocities = robot_velocities.toRobotRelative(
chassisVelocities = chassisVelocities.toRobotRelative(
self.imu.getRotation2d()
)
swerveModuleStates = self.kinematics.toSwerveModuleVelocities(
wpimath.ChassisVelocities.discretize(robot_velocities, periodSeconds)
chassisVelocities = chassisVelocities.discretize(periodSeconds)
velocities = wpimath.SwerveDrive4Kinematics.desaturateWheelVelocities(
self.kinematics.toSwerveModuleVelocities(chassisVelocities),
kMaxVelocity,
)
wpimath.SwerveDrive4Kinematics.desaturateWheelVelocities(
swerveModuleStates, kMaxVelocity
)
self.frontLeft.setDesiredVelocity(swerveModuleStates[0])
self.frontRight.setDesiredVelocity(swerveModuleStates[1])
self.backLeft.setDesiredVelocity(swerveModuleStates[2])
self.backRight.setDesiredVelocity(swerveModuleStates[3])
self.frontLeft.setDesiredVelocity(velocities[0])
self.frontRight.setDesiredVelocity(velocities[1])
self.backLeft.setDesiredVelocity(velocities[2])
self.backRight.setDesiredVelocity(velocities[3])
def updateOdometry(self) -> None:
"""Updates the field relative position of the robot."""