From 7815248d623e6e19822aa8e868340ae318882cce Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Tue, 17 Mar 2026 16:40:35 -0700
Subject: [PATCH] [wpilib] Rename MotorType constants to all caps

---
 .../src/main/native/cpp/drive/MecanumDrive.cpp   | 14 ++++++++------
 .../native/include/wpi/drive/RobotDriveBase.hpp  | 16 ++++++++--------
 .../main/java/org/wpilib/drive/MecanumDrive.java | 16 ++++++++--------
 .../java/org/wpilib/drive/RobotDriveBase.java    | 14 +++++++-------
 4 files changed, 31 insertions(+), 29 deletions(-)

diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index 9adf543d0d..7b7f48df60 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -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 {
diff --git a/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp b/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
index e7f532dc2a..6177dc3951 100644
--- a/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/drive/RobotDriveBase.hpp
@@ -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();
diff --git a/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java b/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java
index 1d26afff49..9bf1fcb406 100644
--- a/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java
@@ -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
diff --git a/wpilibj/src/main/java/org/wpilib/drive/RobotDriveBase.java b/wpilibj/src/main/java/org/wpilib/drive/RobotDriveBase.java
index b101c0a2e0..4170b6a536 100644
--- a/wpilibj/src/main/java/org/wpilib/drive/RobotDriveBase.java
+++ b/wpilibj/src/main/java/org/wpilib/drive/RobotDriveBase.java
@@ -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;