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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();