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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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52
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
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@@ -22,12 +22,12 @@
class Drivetrain {
public:
Drivetrain() {
m_imu.ResetYaw();
imu.ResetYaw();
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_frontRightMotor.SetInverted(true);
m_backRightMotor.SetInverted(true);
frontRightMotor.SetInverted(true);
backRightMotor.SetInverted(true);
}
wpi::math::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
@@ -46,37 +46,37 @@ class Drivetrain {
std::numbers::pi}; // 1/2 rotation per second
private:
wpi::PWMSparkMax m_frontLeftMotor{1};
wpi::PWMSparkMax m_frontRightMotor{2};
wpi::PWMSparkMax m_backLeftMotor{3};
wpi::PWMSparkMax m_backRightMotor{4};
wpi::PWMSparkMax frontLeftMotor{1};
wpi::PWMSparkMax frontRightMotor{2};
wpi::PWMSparkMax backLeftMotor{3};
wpi::PWMSparkMax backRightMotor{4};
wpi::Encoder m_frontLeftEncoder{0, 1};
wpi::Encoder m_frontRightEncoder{2, 3};
wpi::Encoder m_backLeftEncoder{4, 5};
wpi::Encoder m_backRightEncoder{6, 7};
wpi::Encoder frontLeftEncoder{0, 1};
wpi::Encoder frontRightEncoder{2, 3};
wpi::Encoder backLeftEncoder{4, 5};
wpi::Encoder backRightEncoder{6, 7};
wpi::math::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
wpi::math::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
wpi::math::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
wpi::math::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
wpi::math::Translation2d frontLeftLocation{0.381_m, 0.381_m};
wpi::math::Translation2d frontRightLocation{0.381_m, -0.381_m};
wpi::math::Translation2d backLeftLocation{-0.381_m, 0.381_m};
wpi::math::Translation2d backRightLocation{-0.381_m, -0.381_m};
wpi::math::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController frontLeftPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController frontRightPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController backLeftPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController backRightPIDController{1.0, 0.0, 0.0};
wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};
wpi::OnboardIMU imu{wpi::OnboardIMU::FLAT};
wpi::math::MecanumDriveKinematics m_kinematics{
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
m_backRightLocation};
wpi::math::MecanumDriveKinematics kinematics{
frontLeftLocation, frontRightLocation, backLeftLocation,
backRightLocation};
wpi::math::MecanumDriveOdometry m_odometry{
m_kinematics, m_imu.GetRotation2d(), GetCurrentWheelDistances()};
wpi::math::MecanumDriveOdometry odometry{kinematics, imu.GetRotation2d(),
GetCurrentWheelDistances()};
// Gains are for example purposes only - must be determined for your own
// robot!
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{
wpi::math::SimpleMotorFeedforward<wpi::units::meters> feedforward{
1_V, 3_V / 1_mps};
};