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Don't force public variables to use Hungarian notation (#8774)

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People generally have expressed a dislike for the Hungarian notation
used in member variables, especially in examples/templates, and our
styleguide shouldn't be forced on downstream consumers, so this removes
all Hungarian notation from the examples/templates.

There are _some_ benefits to Hungarian for private member variables
(like knowing what's a member vs. local in a PR review) so we'll keep
private member variables the same for now, but public variables should
no longer use Hungarian notation, since it looks much worse. A new PMD
XPath rule has been added to accomplish this goal. Some other
non-compliant variables were fixed for the new rule.
This commit is contained in:
Gold856
2026-04-25 14:32:08 -04:00
committed by GitHub
parent e7e51c9c05
commit 35e8abedeb
443 changed files with 4584 additions and 4789 deletions
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2
robotpyExamples/DifferentialDrivePoseEstimator/robot.py
View File

@@ -17,7 +17,7 @@ class MyRobot(wpilib.TimedRobot):
super().__init__()
self.inst = ntcore.NetworkTableInstance.getDefault()
self.doubleArrayTopic = self.inst.getDoubleArrayTopic("m_doubleArrayTopic")
self.doubleArrayTopic = self.inst.getDoubleArrayTopic("doubleArrayTopic")
self.controller = wpilib.NiDsXboxController(0)
self.drive = Drivetrain(self.doubleArrayTopic)

16
robotpyExamples/SwerveDrivePoseEstimator/swervemodule.py
View File

@@ -112,21 +112,17 @@ class SwerveModule:
encoderRotation
)
# Calculate the drive output from the drive PID controller.
# Calculate the drive output from the drive PID controller and feedforward.
driveOutput = self.drivePIDController.calculate(
self.driveEncoder.getRate(), velocity.velocity
)
) + self.driveFeedforward.calculate(velocity.velocity)
driveFeedforward = self.driveFeedforward.calculate(velocity.velocity)
# Calculate the turning motor output from the turning PID controller.
# Calculate the turning motor output from the turning PID controller and feedforward.
turnOutput = self.turningPIDController.calculate(
self.turningEncoder.getDistance(), velocity.angle.radians()
)
turnFeedforward = self.turnFeedforward.calculate(
) + self.turnFeedforward.calculate(
self.turningPIDController.getSetpoint().velocity
)
self.driveMotor.setVoltage(driveOutput + driveFeedforward)
self.turningMotor.setVoltage(turnOutput + turnFeedforward)
self.driveMotor.setVoltage(driveOutput)
self.turningMotor.setVoltage(turnOutput)