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[wpilib] Rename MotorType constants to all caps

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This commit is contained in:
Peter Johnson
2026-03-17 16:40:35 -07:00
parent 6559d78658
commit 7815248d62
4 changed files with 31 additions and 29 deletions
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14
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -113,19 +113,21 @@ MecanumDrive::WheelVelocities MecanumDrive::DriveCartesianIK(
.RotateBy(-gyroAngle);
double wheelVelocities[4];
wheelVelocities[kFrontLeft] =
wheelVelocities[static_cast<int>(MotorType::FRONT_LEFT)] =
input.X().value() + input.Y().value() + zRotation;
wheelVelocities[kFrontRight] =
wheelVelocities[static_cast<int>(MotorType::FRONT_RIGHT)] =
input.X().value() - input.Y().value() - zRotation;
wheelVelocities[kRearLeft] =
wheelVelocities[static_cast<int>(MotorType::REAR_LEFT)] =
input.X().value() - input.Y().value() + zRotation;
wheelVelocities[kRearRight] =
wheelVelocities[static_cast<int>(MotorType::REAR_RIGHT)] =
input.X().value() + input.Y().value() - zRotation;
Desaturate(wheelVelocities);
return {wheelVelocities[kFrontLeft], wheelVelocities[kFrontRight],
wheelVelocities[kRearLeft], wheelVelocities[kRearRight]};
return {wheelVelocities[static_cast<int>(MotorType::FRONT_LEFT)],
wheelVelocities[static_cast<int>(MotorType::FRONT_RIGHT)],
wheelVelocities[static_cast<int>(MotorType::REAR_LEFT)],
wheelVelocities[static_cast<int>(MotorType::REAR_RIGHT)]};
}
std::string MecanumDrive::GetDescription() const {

16
wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
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@@ -22,21 +22,21 @@ class RobotDriveBase : public MotorSafety {
/**
* The location of a motor on the robot for the purpose of driving.
*/
enum MotorType {
enum class MotorType {
/// Front-left motor.
kFrontLeft = 0,
FRONT_LEFT = 0,
/// Front-right motor.
kFrontRight = 1,
FRONT_RIGHT = 1,
/// Rear-left motor.
kRearLeft = 2,
REAR_LEFT = 2,
/// Rear-right motor.
kRearRight = 3,
REAR_RIGHT = 3,
/// Left motor.
kLeft = 0,
LEFT = 0,
/// Right motor.
kRight = 1,
RIGHT = 1,
/// Back motor.
kBack = 2
BACK = 2
};
RobotDriveBase();

16
wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java
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@@ -278,18 +278,18 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
var input = new Translation2d(xVelocity, yVelocity).rotateBy(gyroAngle.unaryMinus());
double[] wheelVelocities = new double[4];
wheelVelocities[MotorType.kFrontLeft.value] = input.getX() + input.getY() + zRotation;
wheelVelocities[MotorType.kFrontRight.value] = input.getX() - input.getY() - zRotation;
wheelVelocities[MotorType.kRearLeft.value] = input.getX() - input.getY() + zRotation;
wheelVelocities[MotorType.kRearRight.value] = input.getX() + input.getY() - zRotation;
wheelVelocities[MotorType.FRONT_LEFT.value] = input.getX() + input.getY() + zRotation;
wheelVelocities[MotorType.FRONT_RIGHT.value] = input.getX() - input.getY() - zRotation;
wheelVelocities[MotorType.REAR_LEFT.value] = input.getX() - input.getY() + zRotation;
wheelVelocities[MotorType.REAR_RIGHT.value] = input.getX() + input.getY() - zRotation;
normalize(wheelVelocities);
return new WheelVelocities(
wheelVelocities[MotorType.kFrontLeft.value],
wheelVelocities[MotorType.kFrontRight.value],
wheelVelocities[MotorType.kRearLeft.value],
wheelVelocities[MotorType.kRearRight.value]);
wheelVelocities[MotorType.FRONT_LEFT.value],
wheelVelocities[MotorType.FRONT_RIGHT.value],
wheelVelocities[MotorType.REAR_LEFT.value],
wheelVelocities[MotorType.REAR_RIGHT.value]);
}
@Override

14
wpilibj/src/main/java/org/wpilib/drive/RobotDriveBase.java
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@@ -27,19 +27,19 @@ public abstract class RobotDriveBase extends MotorSafety {
/** The location of a motor on the robot for the purpose of driving. */
public enum MotorType {
/** Front left motor. */
kFrontLeft(0),
FRONT_LEFT(0),
/** Front right motor. */
kFrontRight(1),
FRONT_RIGHT(1),
/** Rear left motor. */
kRearLeft(2),
REAR_LEFT(2),
/** Rear right motor. */
kRearRight(3),
REAR_RIGHT(3),
/** Left motor. */
kLeft(0),
LEFT(0),
/** Right motor. */
kRight(1),
RIGHT(1),
/** Back motor. */
kBack(2);
BACK(2);
/** MotorType value. */
public final int value;