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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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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: