[wpilib] Rename OnboardIMU constants to all caps

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:

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())