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[wpilib] Rename SysIdRoutineLog constants to all caps

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This commit is contained in:
Peter Johnson
2026-03-17 16:39:10 -07:00
parent 8fa6976cb2
commit 6559d78658
9 changed files with 54 additions and 54 deletions
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12
commandsv2/src/main/java/org/wpilib/command2/sysid/SysIdRoutine.java
View File

@@ -208,9 +208,9 @@ public class SysIdRoutine extends SysIdRoutineLog {
public Command quasistatic(Direction direction) {
State state;
if (direction == Direction.kForward) {
state = State.kQuasistaticForward;
state = State.QUASISTATIC_FORWARD;
} else { // if (direction == Direction.kReverse) {
state = State.kQuasistaticReverse;
state = State.QUASISTATIC_REVERSE;
}
double outputSign = direction == Direction.kForward ? 1.0 : -1.0;
@@ -230,7 +230,7 @@ public class SysIdRoutine extends SysIdRoutineLog {
.finallyDo(
() -> {
m_mechanism.m_drive.accept(Volts.of(0));
m_recordState.accept(State.kNone);
m_recordState.accept(State.NONE);
timer.stop();
})
.withName("sysid-" + state.toString() + "-" + m_mechanism.m_name)
@@ -251,8 +251,8 @@ public class SysIdRoutine extends SysIdRoutineLog {
double outputSign = direction == Direction.kForward ? 1.0 : -1.0;
State state =
Map.ofEntries(
entry(Direction.kForward, State.kDynamicForward),
entry(Direction.kReverse, State.kDynamicReverse))
entry(Direction.kForward, State.DYNAMIC_FORWARD),
entry(Direction.kReverse, State.DYNAMIC_REVERSE))
.get(direction);
Voltage[] output = {Volts.zero()};
@@ -269,7 +269,7 @@ public class SysIdRoutine extends SysIdRoutineLog {
.finallyDo(
() -> {
m_mechanism.m_drive.accept(Volts.of(0));
m_recordState.accept(State.kNone);
m_recordState.accept(State.NONE);
})
.withName("sysid-" + state.toString() + "-" + m_mechanism.m_name)
.withTimeout(m_config.m_timeout.in(Seconds));

12
commandsv2/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
View File

@@ -11,9 +11,9 @@ using namespace wpi::cmd::sysid;
wpi::cmd::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
wpi::sysid::State state;
if (direction == Direction::kForward) {
state = wpi::sysid::State::kQuasistaticForward;
state = wpi::sysid::State::QUASISTATIC_FORWARD;
} else { // if (direction == Direction::kReverse) {
state = wpi::sysid::State::kQuasistaticReverse;
state = wpi::sysid::State::QUASISTATIC_REVERSE;
}
double outputSign = direction == Direction::kForward ? 1.0 : -1.0;
@@ -29,7 +29,7 @@ wpi::cmd::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
})
.FinallyDo([this] {
m_mechanism.m_drive(0_V);
m_recordState(wpi::sysid::State::kNone);
m_recordState(wpi::sysid::State::NONE);
timer.Stop();
})
.WithName("sysid-" +
@@ -41,9 +41,9 @@ wpi::cmd::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
wpi::cmd::CommandPtr SysIdRoutine::Dynamic(Direction direction) {
wpi::sysid::State state;
if (direction == Direction::kForward) {
state = wpi::sysid::State::kDynamicForward;
state = wpi::sysid::State::DYNAMIC_FORWARD;
} else { // if (direction == Direction::kReverse) {
state = wpi::sysid::State::kDynamicReverse;
state = wpi::sysid::State::DYNAMIC_REVERSE;
}
double outputSign = direction == Direction::kForward ? 1.0 : -1.0;
@@ -57,7 +57,7 @@ wpi::cmd::CommandPtr SysIdRoutine::Dynamic(Direction direction) {
}))
.FinallyDo([this] {
m_mechanism.m_drive(0_V);
m_recordState(wpi::sysid::State::kNone);
m_recordState(wpi::sysid::State::NONE);
})
.WithName("sysid-" +
wpi::sysid::SysIdRoutineLog::StateEnumToString(state) + "-" +

12
commandsv2/src/main/python/commands2/sysid/sysidroutine.py
View File

@@ -115,9 +115,9 @@ class SysIdRoutine(SysIdRoutineLog):
timer = Timer()
if direction == self.Direction.kForward:
state = State.kQuasistaticForward
state = State.QUASISTATIC_FORWARD
else:
state = State.kQuasistaticReverse
state = State.QUASISTATIC_REVERSE
def execute():
self.outputVolts = direction.value * timer.get() * self.config.rampRate
@@ -127,7 +127,7 @@ class SysIdRoutine(SysIdRoutineLog):
def end(interrupted: bool):
self.mechanism.drive(0.0)
self.logState(State.kNone)
self.logState(State.NONE)
timer.stop()
return (
@@ -151,9 +151,9 @@ class SysIdRoutine(SysIdRoutineLog):
"""
if direction == self.Direction.kForward:
state = State.kDynamicForward
state = State.DYNAMIC_FORWARD
else:
state = State.kDynamicReverse
state = State.DYNAMIC_REVERSE
def command():
self.outputVolts = direction.value * self.config.stepVoltage
@@ -165,7 +165,7 @@ class SysIdRoutine(SysIdRoutineLog):
def end(interrupted: bool):
self.mechanism.drive(0.0)
self.logState(State.kNone)
self.logState(State.NONE)
return (
self.mechanism.subsystem.runOnce(command)