[wpilib] Rename OnboardIMU constants to all caps

2026-06-19 00:41:43 +00:00 · 2026-03-17 16:45:25 -07:00
parent e73e2e99f7
commit 3776f8a1ef
41 changed files with 72 additions and 72 deletions
--- a/robotpyExamples/DifferentialDriveBot/drivetrain.py
+++ b/robotpyExamples/DifferentialDriveBot/drivetrain.py
@@ -37,7 +37,7 @@ class Drivetrain:
        self.leftEncoder = wpilib.Encoder(0, 1)
        self.rightEncoder = wpilib.Encoder(2, 3)

-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)

        self.leftPIDController = wpimath.PIDController(1.0, 0.0, 0.0)
        self.rightPIDController = wpimath.PIDController(1.0, 0.0, 0.0)
--- a/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
+++ b/robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
@@ -33,7 +33,7 @@ class Drivetrain:
        self.leftEncoder = wpilib.Encoder(0, 1)
        self.rightEncoder = wpilib.Encoder(2, 3)

-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)

        self.leftPIDController = wpimath.PIDController(1, 0, 0)
        self.rightPIDController = wpimath.PIDController(1, 0, 0)
--- a/robotpyExamples/Gyro/robot.py
+++ b/robotpyExamples/Gyro/robot.py
@@ -20,7 +20,7 @@ class MyRobot(wpilib.TimedRobot):

    kLeftMotorPort = 0
    kRightMotorPort = 1
-    kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.kFlat
+    kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.FLAT
    kJoystickPort = 0

    def __init__(self) -> None:
--- a/robotpyExamples/MecanumBot/drivetrain.py
+++ b/robotpyExamples/MecanumBot/drivetrain.py
@@ -12,8 +12,8 @@ import wpimath
 class Drivetrain:
    """Represents a mecanum drive style drivetrain."""

-    kMaxVelocity = 3.0  # 3 meters per second
-    kMaxAngularVelocity = math.pi  # 1/2 rotation per second
+    MAX_VELOCITY = 3.0  # 3 meters per second
+    MAX_ANGULAR_VELOCITY = math.pi  # 1/2 rotation per second

    def __init__(self) -> None:
        self.frontLeftMotor = wpilib.PWMSparkMax(1)
@@ -36,7 +36,7 @@ class Drivetrain:
        self.backLeftPIDController = wpimath.PIDController(1, 0, 0)
        self.backRightPIDController = wpimath.PIDController(1, 0, 0)

-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)

        self.kinematics = wpimath.MecanumDriveKinematics(
            self.frontLeftLocation,
@@ -121,7 +121,7 @@ class Drivetrain:
        self.setVelocities(
            self.kinematics.toWheelVelocities(
                chassisVelocities.discretize(periodSeconds)
-            ).desaturate(self.kMaxVelocity)
+            ).desaturate(self.MAX_VELOCITY)
        )

    def updateOdometry(self) -> None:
--- a/robotpyExamples/MecanumBot/robot.py
+++ b/robotpyExamples/MecanumBot/robot.py
@@ -35,7 +35,7 @@ class MyRobot(wpilib.TimedRobot):
        # negative values when we push forward.
        xVelocity = (
            -self.xvelocityLimiter.calculate(self.controller.getLeftY())
-            * Drivetrain.kMaxVelocity
+            * Drivetrain.MAX_VELOCITY
        )

        # Get the y velocity or sideways/strafe velocity. We are inverting this because
@@ -43,7 +43,7 @@ class MyRobot(wpilib.TimedRobot):
        # return positive values when you pull to the right by default.
        yVelocity = (
            -self.yvelocityLimiter.calculate(self.controller.getLeftX())
-            * Drivetrain.kMaxVelocity
+            * Drivetrain.MAX_VELOCITY
        )

        # Get the rate of angular rotation. We are inverting this because we want a
@@ -52,7 +52,7 @@ class MyRobot(wpilib.TimedRobot):
        # the right by default.
        rot = (
            -self.rotLimiter.calculate(self.controller.getRightX())
-            * Drivetrain.kMaxAngularVelocity
+            * Drivetrain.MAX_ANGULAR_VELOCITY
        )

        self.mecanum.drive(xVelocity, yVelocity, rot, fieldRelative, self.getPeriod())
--- a/robotpyExamples/MecanumDrive/robot.py
+++ b/robotpyExamples/MecanumDrive/robot.py
@@ -19,7 +19,7 @@ class MyRobot(wpilib.TimedRobot):
    kRearLeftChannel = 1
    kFrontRightChannel = 2
    kRearRightChannel = 3
-    kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.kFlat
+    kIMUMountOrientation = wpilib.OnboardIMU.MountOrientation.FLAT
    kJoystickPort = 0

    def __init__(self) -> None:
--- a/robotpyExamples/MecanumDrivePoseEstimator/drivetrain.py
+++ b/robotpyExamples/MecanumDrivePoseEstimator/drivetrain.py
@@ -16,8 +16,8 @@ from exampleglobalmeasurementsensor import ExampleGlobalMeasurementSensor
 class Drivetrain:
    """Represents a mecanum drive style drivetrain."""

-    kMaxVelocity = 3.0  # 3 meters per second
-    kMaxAngularVelocity = math.pi  # 1/2 rotation per second
+    MAX_VELOCITY = 3.0  # 3 meters per second
+    MAX_ANGULAR_VELOCITY = math.pi  # 1/2 rotation per second

    def __init__(self) -> None:
        self.frontLeftMotor = wpilib.PWMSparkMax(1)
@@ -40,7 +40,7 @@ class Drivetrain:
        self.backLeftPIDController = wpimath.PIDController(1, 0, 0)
        self.backRightPIDController = wpimath.PIDController(1, 0, 0)

-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)

        self.kinematics = wpimath.MecanumDriveKinematics(
            self.frontLeftLocation,
@@ -146,7 +146,7 @@ class Drivetrain:
        self.setVelocities(
            self.kinematics.toWheelVelocities(
                chassisVelocities.discretize(period)
-            ).desaturate(self.kMaxVelocity)
+            ).desaturate(self.MAX_VELOCITY)
        )

    def updateOdometry(self) -> None:
--- a/robotpyExamples/MecanumDrivePoseEstimator/robot.py
+++ b/robotpyExamples/MecanumDrivePoseEstimator/robot.py
@@ -34,19 +34,19 @@ class MyRobot(wpilib.TimedRobot):
        # Get the x velocity. We are inverting this because Xbox controllers return
        # negative values when we push forward.
        xVelocity = -self.xvelocityLimiter.calculate(self.controller.getLeftY())
-        xVelocity *= Drivetrain.kMaxVelocity
+        xVelocity *= Drivetrain.MAX_VELOCITY

        # Get the y velocity or sideways/strafe velocity. We are inverting this because
        # we want a positive value when we pull to the left. Xbox controllers
        # return positive values when you pull to the right by default.
        yVelocity = -self.yvelocityLimiter.calculate(self.controller.getLeftX())
-        yVelocity *= Drivetrain.kMaxVelocity
+        yVelocity *= Drivetrain.MAX_VELOCITY

        # Get the rate of angular rotation. We are inverting this because we want a
        # positive value when we pull to the left (remember, CCW is positive in
        # mathematics). Xbox controllers return positive values when you pull to
        # the right by default.
        rot = -self.rotLimiter.calculate(self.controller.getRightX())
-        rot *= Drivetrain.kMaxAngularVelocity
+        rot *= Drivetrain.MAX_ANGULAR_VELOCITY

        self.mecanum.drive(xVelocity, yVelocity, rot, fieldRelative, self.getPeriod())
--- a/robotpyExamples/RapidReactCommandBot/subsystems/drive.py
+++ b/robotpyExamples/RapidReactCommandBot/subsystems/drive.py
@@ -43,7 +43,7 @@ class Drive(Subsystem):
            DriveConstants.kRightEncoderReversed,
        )

-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
        self.controller = wpimath.ProfiledPIDController(
            DriveConstants.kTurnP,
            DriveConstants.kTurnI,
--- a/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
+++ b/robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
@@ -35,7 +35,7 @@ class Drivetrain:
        self.leftPIDController = wpimath.PIDController(8.5, 0, 0)
        self.rightPIDController = wpimath.PIDController(8.5, 0, 0)

-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)

        self.kinematics = wpimath.DifferentialDriveKinematics(self.kTrackwidth)
        self.odometry = wpimath.DifferentialDriveOdometry(
--- a/robotpyExamples/SwerveBot/drivetrain.py
+++ b/robotpyExamples/SwerveBot/drivetrain.py
@@ -29,7 +29,7 @@ class Drivetrain:
        self.backLeft = swervemodule.SwerveModule(5, 6, 8, 9, 10, 11)
        self.backRight = swervemodule.SwerveModule(7, 8, 12, 13, 14, 15)

-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)

        self.kinematics = wpimath.SwerveDrive4Kinematics(
            self.frontLeftLocation,
--- a/robotpyExamples/SwerveDrivePoseEstimator/drivetrain.py
+++ b/robotpyExamples/SwerveDrivePoseEstimator/drivetrain.py
@@ -31,7 +31,7 @@ class Drivetrain:
        self.backLeft = swervemodule.SwerveModule(5, 6, 8, 9, 10, 11)
        self.backRight = swervemodule.SwerveModule(7, 8, 12, 13, 14, 15)

-        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.kFlat)
+        self.imu = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)

        self.kinematics = wpimath.SwerveDrive4Kinematics(
            self.frontLeftLocation,
--- a/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/imu/OnboardIMU.cpp
@@ -18,13 +18,13 @@ wpi::units::radian_t OnboardIMU::GetYawNoOffset() {
  int64_t timestamp;
  double val;
  switch (m_mountOrientation) {
-    case kFlat:
+    case FLAT:
      val = HAL_GetIMUYawFlat(&timestamp);
      break;
-    case kLandscape:
+    case LANDSCAPE:
      val = HAL_GetIMUYawLandscape(&timestamp);
      break;
-    case kPortrait:
+    case PORTRAIT:
      val = HAL_GetIMUYawPortrait(&timestamp);
      break;
    default:
@@ -61,13 +61,13 @@ wpi::units::radian_t OnboardIMU::GetAngleX() {
  HAL_EulerAngles3d val;
  int32_t status = 0;
  switch (m_mountOrientation) {
-    case kFlat:
+    case FLAT:
      HAL_GetIMUEulerAnglesFlat(&val, &status);
      break;
-    case kLandscape:
+    case LANDSCAPE:
      HAL_GetIMUEulerAnglesLandscape(&val, &status);
      break;
-    case kPortrait:
+    case PORTRAIT:
      HAL_GetIMUEulerAnglesPortrait(&val, &status);
      break;
  }
@@ -79,13 +79,13 @@ wpi::units::radian_t OnboardIMU::GetAngleY() {
  HAL_EulerAngles3d val;
  int32_t status = 0;
  switch (m_mountOrientation) {
-    case kFlat:
+    case FLAT:
      HAL_GetIMUEulerAnglesFlat(&val, &status);
      break;
-    case kLandscape:
+    case LANDSCAPE:
      HAL_GetIMUEulerAnglesLandscape(&val, &status);
      break;
-    case kPortrait:
+    case PORTRAIT:
      HAL_GetIMUEulerAnglesPortrait(&val, &status);
      break;
  }
@@ -97,13 +97,13 @@ wpi::units::radian_t OnboardIMU::GetAngleZ() {
  HAL_EulerAngles3d val;
  int32_t status = 0;
  switch (m_mountOrientation) {
-    case kFlat:
+    case FLAT:
      HAL_GetIMUEulerAnglesFlat(&val, &status);
      break;
-    case kLandscape:
+    case LANDSCAPE:
      HAL_GetIMUEulerAnglesLandscape(&val, &status);
      break;
-    case kPortrait:
+    case PORTRAIT:
      HAL_GetIMUEulerAnglesPortrait(&val, &status);
      break;
  }
--- a/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
+++ b/wpilibc/src/main/native/include/wpi/hardware/imu/OnboardIMU.hpp
@@ -22,13 +22,13 @@ class OnboardIMU {
   */
  enum MountOrientation {
    /** Flat (mounted parallel to the ground). */
-    kFlat,
+    FLAT,
    /** Landscape (vertically mounted with long edge of Systemcore parallel to
       the ground). */
-    kLandscape,
+    LANDSCAPE,
    /** Portrait (vertically mounted with the short edge of Systemcore parallel
       to the ground). */
-    kPortrait
+    PORTRAIT
  };

  /**
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
@@ -72,7 +72,7 @@ class Drivetrain {
  wpi::math::PIDController m_leftPIDController{1.0, 0.0, 0.0};
  wpi::math::PIDController m_rightPIDController{1.0, 0.0, 0.0};

-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};

  wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
  wpi::math::DifferentialDriveOdometry m_odometry{
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
@@ -144,7 +144,7 @@ class Drivetrain {
  wpi::math::PIDController m_leftPIDController{1.0, 0.0, 0.0};
  wpi::math::PIDController m_rightPIDController{1.0, 0.0, 0.0};

-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};

  wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};

--- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -45,7 +45,7 @@ class Robot : public wpi::TimedRobot {
  static constexpr int kLeftMotorPort = 0;
  static constexpr int kRightMotorPort = 1;
  static constexpr wpi::OnboardIMU::MountOrientation kIMUMountOrientation =
-      wpi::OnboardIMU::kFlat;
+      wpi::OnboardIMU::FLAT;
  static constexpr int kJoystickPort = 0;

  wpi::PWMSparkMax m_left{kLeftMotorPort};
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
@@ -66,7 +66,7 @@ class Drivetrain {
  wpi::math::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
  wpi::math::PIDController m_backRightPIDController{1.0, 0.0, 0.0};

-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};

  wpi::math::MecanumDriveKinematics m_kinematics{
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -44,7 +44,7 @@ class Robot : public wpi::TimedRobot {
  static constexpr int kFrontRightMotorPort = 2;
  static constexpr int kRearRightMotorPort = 3;
  static constexpr wpi::OnboardIMU::MountOrientation kIMUMountOrientation =
-      wpi::OnboardIMU::kFlat;
+      wpi::OnboardIMU::FLAT;
  static constexpr int kJoystickPort = 0;

  wpi::PWMSparkMax m_frontLeft{kFrontLeftMotorPort};
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.hpp
@@ -65,7 +65,7 @@ class Drivetrain {
  wpi::math::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
  wpi::math::PIDController m_backRightPIDController{1.0, 0.0, 0.0};

-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};

  wpi::math::MecanumDriveKinematics m_kinematics{
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
@@ -65,7 +65,7 @@ class Drive : public wpi::cmd::SubsystemBase {
                              DriveConstants::kRightEncoderPorts[1],
                              DriveConstants::kRightEncoderReversed};

-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};

  wpi::math::ProfiledPIDController<wpi::units::radians> m_controller{
      DriveConstants::kTurnP,
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
@@ -87,7 +87,7 @@ class Drivetrain {
  wpi::math::PIDController m_leftPIDController{8.5, 0.0, 0.0};
  wpi::math::PIDController m_rightPIDController{8.5, 0.0, 0.0};

-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};

  wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
  wpi::math::DifferentialDriveOdometry m_odometry{
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
@@ -41,7 +41,7 @@ class Drivetrain {
  SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
  SwerveModule m_backRight{7, 8, 12, 13, 14, 15};

-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};

  wpi::math::SwerveDriveKinematics<4> m_kinematics{
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.hpp
@@ -40,7 +40,7 @@ class Drivetrain {
  SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
  SwerveModule m_backRight{7, 8, 12, 13, 14, 15};

-  wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
+  wpi::OnboardIMU m_imu{wpi::OnboardIMU::FLAT};

  wpi::math::SwerveDriveKinematics<4> m_kinematics{
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
@@ -30,7 +30,7 @@ class Robot : public wpi::TimedRobot {
 private:
  wpi::units::meters_per_second_squared_t m_prevXAccel = 0.0_mps_sq;
  wpi::units::meters_per_second_squared_t m_prevYAccel = 0.0_mps_sq;
-  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::kFlat};
+  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::FLAT};
 };

 #ifndef RUNNING_WPILIB_TESTS
--- a/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
@@ -27,7 +27,7 @@ class Robot : public wpi::TimedRobot {
  }

 private:
-  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::kFlat};
+  wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::FLAT};
  wpi::math::LinearFilter<wpi::units::meters_per_second_squared_t>
      m_xAccelFilter = wpi::math::LinearFilter<
          wpi::units::meters_per_second_squared_t>::MovingAverage(10);
--- a/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/snippets/OnboardIMU/cpp/Robot.cpp
@@ -35,7 +35,7 @@ class Robot : public wpi::TimedRobot {

 private:
  // Creates an object for the Systemcore IMU
-  wpi::OnboardIMU m_IMU{wpi::OnboardIMU::MountOrientation::kFlat};
+  wpi::OnboardIMU m_IMU{wpi::OnboardIMU::MountOrientation::FLAT};
 };

 #ifndef RUNNING_WPILIB_TESTS
--- a/wpilibj/src/main/java/org/wpilib/hardware/imu/OnboardIMU.java
+++ b/wpilibj/src/main/java/org/wpilib/hardware/imu/OnboardIMU.java
@@ -14,11 +14,11 @@ public class OnboardIMU {
  /** A mount orientation of Systemcore. */
  public enum MountOrientation {
    /** Flat (mounted parallel to the ground). */
-    kFlat,
+    FLAT,
    /** Landscape (vertically mounted with long edge of Systemcore parallel to the ground). */
-    kLandscape,
+    LANDSCAPE,
    /** Portrait (vertically mounted with the short edge of Systemcore parallel to the ground). */
-    kPortrait
+    PORTRAIT
  }

  /**
@@ -160,9 +160,9 @@ public class OnboardIMU {
  private double[] getRawEulerAngles() {
    double[] anglesRaw = new double[3];
    switch (m_mountOrientation) {
-      case kFlat -> IMUJNI.getIMUEulerAnglesFlat(anglesRaw);
-      case kLandscape -> IMUJNI.getIMUEulerAnglesLandscape(anglesRaw);
-      case kPortrait -> IMUJNI.getIMUEulerAnglesPortrait(anglesRaw);
+      case FLAT -> IMUJNI.getIMUEulerAnglesFlat(anglesRaw);
+      case LANDSCAPE -> IMUJNI.getIMUEulerAnglesLandscape(anglesRaw);
+      case PORTRAIT -> IMUJNI.getIMUEulerAnglesPortrait(anglesRaw);
      default -> {
        // NOP
      }
@@ -184,9 +184,9 @@ public class OnboardIMU {

  private double getYawNoOffset() {
    return switch (m_mountOrientation) {
-      case kFlat -> IMUJNI.getIMUYawFlat();
-      case kLandscape -> IMUJNI.getIMUYawLandscape();
-      case kPortrait -> IMUJNI.getIMUYawPortrait();
+      case FLAT -> IMUJNI.getIMUYawFlat();
+      case LANDSCAPE -> IMUJNI.getIMUYawLandscape();
+      case PORTRAIT -> IMUJNI.getIMUYawPortrait();
      default -> 0;
    };
  }
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdrivebot/Drivetrain.java
@@ -31,7 +31,7 @@ public class Drivetrain {
  private final Encoder m_leftEncoder = new Encoder(0, 1);
  private final Encoder m_rightEncoder = new Encoder(2, 3);

-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);

  private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
  private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java
@@ -54,7 +54,7 @@ public class Drivetrain {
  private final Encoder m_leftEncoder = new Encoder(0, 1);
  private final Encoder m_rightEncoder = new Encoder(2, 3);

-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);

  private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
  private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/gyro/Robot.java
@@ -23,7 +23,7 @@ public class Robot extends TimedRobot {
  private static final int kLeftMotorPort = 0;
  private static final int kRightMotorPort = 1;
  private static final OnboardIMU.MountOrientation kIMUMountOrientation =
-      OnboardIMU.MountOrientation.kFlat;
+      OnboardIMU.MountOrientation.FLAT;
  private static final int kJoystickPort = 0;

  private final PWMSparkMax m_leftDrive = new PWMSparkMax(kLeftMotorPort);
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumbot/Drivetrain.java
@@ -41,7 +41,7 @@ public class Drivetrain {
  private final PIDController m_backLeftPIDController = new PIDController(1, 0, 0);
  private final PIDController m_backRightPIDController = new PIDController(1, 0, 0);

-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);

  private final MecanumDriveKinematics m_kinematics =
      new MecanumDriveKinematics(
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdrive/Robot.java
@@ -21,7 +21,7 @@ public class Robot extends TimedRobot {
  private static final int kFrontRightChannel = 2;
  private static final int kRearRightChannel = 3;
  private static final OnboardIMU.MountOrientation kIMUMountOrientation =
-      OnboardIMU.MountOrientation.kFlat;
+      OnboardIMU.MountOrientation.FLAT;
  private static final int kJoystickPort = 0;

  private final MecanumDrive m_robotDrive;
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/mecanumdriveposeestimator/Drivetrain.java
@@ -45,7 +45,7 @@ public class Drivetrain {
  private final PIDController m_backLeftPIDController = new PIDController(1, 0, 0);
  private final PIDController m_backRightPIDController = new PIDController(1, 0, 0);

-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);

  private final MecanumDriveKinematics m_kinematics =
      new MecanumDriveKinematics(
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Drive.java
@@ -49,7 +49,7 @@ public class Drive extends SubsystemBase {
          DriveConstants.kRightEncoderPorts[1],
          DriveConstants.kRightEncoderReversed);

-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);
  private final ProfiledPIDController m_controller =
      new ProfiledPIDController(
          DriveConstants.kTurnP,
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -45,7 +45,7 @@ public class Drivetrain {
  private final PIDController m_leftPIDController = new PIDController(8.5, 0, 0);
  private final PIDController m_rightPIDController = new PIDController(8.5, 0, 0);

-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);

  private final DifferentialDriveKinematics m_kinematics =
      new DifferentialDriveKinematics(kTrackwidth);
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervebot/Drivetrain.java
@@ -26,7 +26,7 @@ public class Drivetrain {
  private final SwerveModule m_backLeft = new SwerveModule(5, 6, 8, 9, 10, 11);
  private final SwerveModule m_backRight = new SwerveModule(7, 8, 12, 13, 14, 15);

-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);

  private final SwerveDriveKinematics m_kinematics =
      new SwerveDriveKinematics(
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/swervedriveposeestimator/Drivetrain.java
@@ -30,7 +30,7 @@ public class Drivetrain {
  private final SwerveModule m_backLeft = new SwerveModule(5, 6, 8, 9, 10, 11);
  private final SwerveModule m_backRight = new SwerveModule(7, 8, 12, 13, 14, 15);

-  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.kFlat);
+  private final OnboardIMU m_imu = new OnboardIMU(OnboardIMU.MountOrientation.FLAT);

  private final SwerveDriveKinematics m_kinematics =
      new SwerveDriveKinematics(
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometercollision/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometercollision/Robot.java
@@ -17,7 +17,7 @@ import org.wpilib.smartdashboard.SmartDashboard;
 public class Robot extends TimedRobot {
  double m_prevXAccel;
  double m_prevYAccel;
-  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.kFlat);
+  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.FLAT);

  @Override
  public void robotPeriodic() {
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/accelerometerfilter/Robot.java
@@ -15,7 +15,7 @@ import org.wpilib.smartdashboard.SmartDashboard;
 * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
 */
 public class Robot extends TimedRobot {
-  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.kFlat);
+  OnboardIMU m_accelerometer = new OnboardIMU(MountOrientation.FLAT);
  // Create a LinearFilter that will calculate a moving average of the measured X acceleration over
  // the past 10 iterations of the main loop
  LinearFilter m_xAccelFilter = LinearFilter.movingAverage(10);
--- a/wpilibjExamples/src/main/java/org/wpilib/snippets/onboardimu/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/onboardimu/Robot.java
@@ -14,7 +14,7 @@ import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
 */
 public class Robot extends TimedRobot {
  // Creates an object for the on board IMU
-  OnboardIMU m_iMU = new OnboardIMU(MountOrientation.kFlat);
+  OnboardIMU m_iMU = new OnboardIMU(MountOrientation.FLAT);

  /** Called once at the beginning of the robot program. */
  public Robot() {}