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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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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
View File

@@ -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;