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[wpilib] Rename OnboardIMU constants to all caps

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This commit is contained in:
Peter Johnson
2026-03-17 16:45:25 -07:00
parent e73e2e99f7
commit 3776f8a1ef
41 changed files with 72 additions and 72 deletions
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2
robotpyExamples/DifferentialDriveBot/drivetrain.py
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@@ -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)

2
robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
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@@ -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)

2
robotpyExamples/Gyro/robot.py
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@@ -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:

8
robotpyExamples/MecanumBot/drivetrain.py
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@@ -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:

6
robotpyExamples/MecanumBot/robot.py
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@@ -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())

2
robotpyExamples/MecanumDrive/robot.py
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@@ -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:

8
robotpyExamples/MecanumDrivePoseEstimator/drivetrain.py
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@@ -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:

6
robotpyExamples/MecanumDrivePoseEstimator/robot.py
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@@ -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())

2
robotpyExamples/RapidReactCommandBot/subsystems/drive.py
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@@ -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,

2
robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
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@@ -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(

2
robotpyExamples/SwerveBot/drivetrain.py
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@@ -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,

2
robotpyExamples/SwerveDrivePoseEstimator/drivetrain.py
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@@ -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,