[wpilib] separate expansion hub position and velocity constants (#8791)

this is because position and velocity control follow different rules;
see #8773

Signed-off-by: Zach Harel <zach@zharel.me>

wpilibc/robotpy_pybind_build_info.bzl

@@ -460,13 +460,13 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
             ],
         ),
         struct(
-            class_name = "ExpansionHubPidConstants",
-            yml_file = "semiwrap/ExpansionHubPidConstants.yml",
+            class_name = "ExpansionHubPositionConstants",
+            yml_file = "semiwrap/ExpansionHubPositionConstants.yml",
             header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
-            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/hardware/expansionhub/ExpansionHubPidConstants.hpp",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/hardware/expansionhub/ExpansionHubPositionConstants.hpp",
             tmpl_class_names = [],
             trampolines = [
-                ("wpi::ExpansionHubPidConstants", "wpi__ExpansionHubPidConstants.hpp"),
+                ("wpi::ExpansionHubPositionConstants", "wpi__ExpansionHubPositionConstants.hpp"),
             ],
         ),
         struct(
@@ -479,6 +479,16 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
                 ("wpi::ExpansionHubServo", "wpi__ExpansionHubServo.hpp"),
             ],
         ),
+        struct(
+            class_name = "ExpansionHubVelocityConstants",
+            yml_file = "semiwrap/ExpansionHubVelocityConstants.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/hardware/expansionhub/ExpansionHubVelocityConstants.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::ExpansionHubVelocityConstants", "wpi__ExpansionHubVelocityConstants.hpp"),
+            ],
+        ),
         struct(
             class_name = "OnboardIMU",
             yml_file = "semiwrap/OnboardIMU.yml",

wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp

@@ -4,6 +4,8 @@
 
 #include "wpi/hardware/expansionhub/ExpansionHubMotor.hpp"
 
+#include "wpi/hardware/expansionhub/ExpansionHubPositionConstants.hpp"
+#include "wpi/hardware/expansionhub/ExpansionHubVelocityConstants.hpp"
 #include "wpi/system/Errors.hpp"
 #include "wpi/system/SystemServer.hpp"
 
@@ -18,8 +20,8 @@ using namespace wpi;
 ExpansionHubMotor::ExpansionHubMotor(int usbId, int channel)
     : m_hub{usbId},
       m_channel{channel},
-      m_velocityPidConstants{usbId, channel, true},
-      m_positionPidConstants{usbId, channel, false} {
+      m_velocityConstants{usbId, channel},
+      m_positionConstants{usbId, channel} {
   WPILIB_AssertMessage(channel >= 0 && channel < ExpansionHub::NumMotorPorts,
                        "ExHub Motor Channel {} out of range", channel);
 
@@ -148,12 +150,12 @@ void ExpansionHubMotor::ResetEncoder() {
   m_resetEncoderPublisher.Set(true);
 }
 
-ExpansionHubPidConstants& ExpansionHubMotor::GetVelocityPidConstants() {
-  return m_velocityPidConstants;
+ExpansionHubVelocityConstants& ExpansionHubMotor::GetVelocityConstants() {
+  return m_velocityConstants;
 }
 
-ExpansionHubPidConstants& ExpansionHubMotor::GetPositionPidConstants() {
-  return m_positionPidConstants;
+ExpansionHubPositionConstants& ExpansionHubMotor::GetPositionConstants() {
+  return m_positionConstants;
 }
 
 void ExpansionHubMotor::Follow(const ExpansionHubMotor& leader) {

wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubPidConstants.cpp

@@ -1,97 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "wpi/hardware/expansionhub/ExpansionHubPidConstants.hpp"
-
-#include <string>
-
-#include "wpi/system/Errors.hpp"
-#include "wpi/system/SystemServer.hpp"
-
-using namespace wpi;
-
-ExpansionHubPidConstants::ExpansionHubPidConstants(int usbId, int channel,
-                                                   bool isVelocityPid) {
-  auto systemServer = SystemServer::GetSystemServer();
-
-  wpi::nt::PubSubOptions options;
-  options.sendAll = true;
-  options.keepDuplicates = true;
-  options.periodic = 0.005;
-
-  std::string pidType = isVelocityPid ? "velocity" : "position";
-
-  m_pPublisher = systemServer
-                     .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/pid/{}/kp",
-                                                 usbId, channel, pidType))
-                     .Publish(options);
-
-  m_iPublisher = systemServer
-                     .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/pid/{}/ki",
-                                                 usbId, channel, pidType))
-                     .Publish(options);
-
-  m_dPublisher = systemServer
-                     .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/pid/{}/kd",
-                                                 usbId, channel, pidType))
-                     .Publish(options);
-
-  m_aPublisher = systemServer
-                     .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/pid/{}/ka",
-                                                 usbId, channel, pidType))
-                     .Publish(options);
-
-  m_vPublisher = systemServer
-                     .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/pid/{}/kv",
-                                                 usbId, channel, pidType))
-                     .Publish(options);
-
-  m_sPublisher = systemServer
-                     .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/pid/{}/ks",
-                                                 usbId, channel, pidType))
-                     .Publish(options);
-
-  m_continuousPublisher =
-      systemServer
-          .GetBooleanTopic(fmt::format("/rhsp/{}/motor{}/pid/{}/continuous",
-                                       usbId, channel, pidType))
-          .Publish(options);
-
-  m_continuousMinimumPublisher =
-      systemServer
-          .GetDoubleTopic(
-              fmt::format("/rhsp/{}/motor{}/pid/{}/continuousMinimum", usbId,
-                          channel, pidType))
-          .Publish(options);
-
-  m_continuousMaximumPublisher =
-      systemServer
-          .GetDoubleTopic(
-              fmt::format("/rhsp/{}/motor{}/pid/{}/continuousMaximum", usbId,
-                          channel, pidType))
-          .Publish(options);
-}
-
-void ExpansionHubPidConstants::SetPID(double p, double i, double d) {
-  m_pPublisher.Set(p);
-  m_iPublisher.Set(i);
-  m_dPublisher.Set(d);
-}
-
-void ExpansionHubPidConstants::SetFF(double s, double v, double a) {
-  m_sPublisher.Set(s);
-  m_vPublisher.Set(v);
-  m_aPublisher.Set(a);
-}
-
-void ExpansionHubPidConstants::EnableContinuousInput(double minimumInput,
-                                                     double maximumInput) {
-  m_continuousMaximumPublisher.Set(maximumInput);
-  m_continuousMinimumPublisher.Set(minimumInput);
-  m_continuousPublisher.Set(true);
-}
-
-void ExpansionHubPidConstants::DisableContinuousInput() {
-  m_continuousPublisher.Set(false);
-}

wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubPositionConstants.cpp

@@ -0,0 +1,94 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/hardware/expansionhub/ExpansionHubPositionConstants.hpp"
+
+#include "fmt/core.h"
+#include "wpi/system/SystemServer.hpp"
+
+using namespace wpi;
+
+ExpansionHubPositionConstants::ExpansionHubPositionConstants(int hubNumber,
+                                                             int motorNumber) {
+  auto systemServer = SystemServer::GetSystemServer();
+
+  wpi::nt::PubSubOptions options;
+  options.sendAll = true;
+  options.keepDuplicates = true;
+  options.periodic = 0.005;
+
+  m_pPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/kp",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+
+  m_iPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/ki",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+
+  m_dPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/kd",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+
+  m_sPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/position/ks",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+
+  m_continuousPublisher =
+      systemServer
+          .GetBooleanTopic(
+              fmt::format("/rhsp/{}/motor{}/constants/position/continuous",
+                          hubNumber, motorNumber))
+          .Publish(options);
+
+  m_continuousMinimumPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format(
+              "/rhsp/{}/motor{}/constants/position/continuousMinimum",
+              hubNumber, motorNumber))
+          .Publish(options);
+
+  m_continuousMaximumPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format(
+              "/rhsp/{}/motor{}/constants/position/continuousMaximum",
+              hubNumber, motorNumber))
+          .Publish(options);
+}
+
+ExpansionHubPositionConstants& ExpansionHubPositionConstants::SetPID(double p,
+                                                                     double i,
+                                                                     double d) {
+  m_pPublisher.Set(p);
+  m_iPublisher.Set(i);
+  m_dPublisher.Set(d);
+  return *this;
+}
+
+ExpansionHubPositionConstants& ExpansionHubPositionConstants::SetS(double s) {
+  m_sPublisher.Set(s);
+  return *this;
+}
+
+ExpansionHubPositionConstants&
+ExpansionHubPositionConstants::EnableContinuousInput(double minimumInput,
+                                                     double maximumInput) {
+  m_continuousMaximumPublisher.Set(maximumInput);
+  m_continuousMinimumPublisher.Set(minimumInput);
+  m_continuousPublisher.Set(true);
+  return *this;
+}
+
+ExpansionHubPositionConstants&
+ExpansionHubPositionConstants::DisableContinuousInput() {
+  m_continuousPublisher.Set(false);
+  return *this;
+}

wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubVelocityConstants.cpp

@@ -0,0 +1,74 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "wpi/hardware/expansionhub/ExpansionHubVelocityConstants.hpp"
+
+#include "fmt/core.h"
+#include "wpi/system/SystemServer.hpp"
+
+using namespace wpi;
+
+ExpansionHubVelocityConstants::ExpansionHubVelocityConstants(int hubNumber,
+                                                             int motorNumber) {
+  auto systemServer = SystemServer::GetSystemServer();
+
+  wpi::nt::PubSubOptions options;
+  options.sendAll = true;
+  options.keepDuplicates = true;
+  options.periodic = 0.005;
+
+  m_pPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/velocity/kp",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+
+  m_iPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/velocity/ki",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+
+  m_dPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/velocity/kd",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+
+  m_sPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/velocity/ks",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+
+  m_vPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/velocity/kv",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+
+  m_aPublisher =
+      systemServer
+          .GetDoubleTopic(fmt::format("/rhsp/{}/motor{}/constants/velocity/ka",
+                                      hubNumber, motorNumber))
+          .Publish(options);
+}
+
+ExpansionHubVelocityConstants& ExpansionHubVelocityConstants::SetPID(double p,
+                                                                     double i,
+                                                                     double d) {
+  m_pPublisher.Set(p);
+  m_iPublisher.Set(i);
+  m_dPublisher.Set(d);
+  return *this;
+}
+
+ExpansionHubVelocityConstants& ExpansionHubVelocityConstants::SetFF(double s,
+                                                                    double v,
+                                                                    double a) {
+  m_sPublisher.Set(s);
+  m_vPublisher.Set(v);
+  m_aPublisher.Set(a);
+  return *this;
+}

wpilibc/src/main/native/include/wpi/hardware/expansionhub/ExpansionHubMotor.hpp

@@ -5,7 +5,8 @@
 #pragma once
 
 #include "wpi/hardware/expansionhub/ExpansionHub.hpp"
-#include "wpi/hardware/expansionhub/ExpansionHubPidConstants.hpp"
+#include "wpi/hardware/expansionhub/ExpansionHubPositionConstants.hpp"
+#include "wpi/hardware/expansionhub/ExpansionHubVelocityConstants.hpp"
 #include "wpi/nt/BooleanTopic.hpp"
 #include "wpi/nt/DoubleTopic.hpp"
 #include "wpi/nt/IntegerTopic.hpp"
@@ -120,14 +121,14 @@ class ExpansionHubMotor {
    *
    * @return Velocity PID constants object
    */
-  ExpansionHubPidConstants& GetVelocityPidConstants();
+  ExpansionHubVelocityConstants& GetVelocityConstants();
 
   /**
    * Gets the PID constants object for position PID.
    *
    * @return Position PID constants object
    */
-  ExpansionHubPidConstants& GetPositionPidConstants();
+  ExpansionHubPositionConstants& GetPositionConstants();
 
   /**
    * Gets if the underlying ExpansionHub is connected.
@@ -165,7 +166,7 @@ class ExpansionHubMotor {
 
   wpi::nt::DoublePublisher m_distancePerCountPublisher;
 
-  ExpansionHubPidConstants m_velocityPidConstants;
-  ExpansionHubPidConstants m_positionPidConstants;
+  ExpansionHubVelocityConstants m_velocityConstants;
+  ExpansionHubPositionConstants m_positionConstants;
 };
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/hardware/expansionhub/ExpansionHubPositionConstants.hpp

@@ -6,24 +6,25 @@
 
 #include "wpi/nt/BooleanTopic.hpp"
 #include "wpi/nt/DoubleTopic.hpp"
-#include "wpi/nt/IntegerTopic.hpp"
 
 namespace wpi {
 class ExpansionHubMotor;
 
-/** This class contains PID constants for an ExpansionHub motor. */
-class ExpansionHubPidConstants {
+/** This class contains feedback and feedforward constants for an ExpansionHub
+ * motor. */
+class ExpansionHubPositionConstants {
  public:
   /**
    * Sets the PID Controller gain parameters.
    *
-   * Sets the proportional, integral, and differential coefficients.
+   * Set the proportional, integral, and differential coefficients.
    *
-   * @param p The proportional coefficient. Must be >= 0.
-   * @param i The integral coefficient. Must be >= 0.
-   * @param d The differential coefficient. Must be >= 0.
+   * @param p The proportional coefficient.
+   * @param i The integral coefficient.
+   * @param d The derivative coefficient.
+   * @return This object, for method chaining.
    */
-  void SetPID(double p, double i, double d);
+  ExpansionHubPositionConstants& SetPID(double p, double i, double d);
 
   /**
    * Sets the feed forward gains to the specified values.
@@ -31,13 +32,12 @@ class ExpansionHubPidConstants {
    * The units should be radians for angular systems and meters for linear
    * systems.
    *
-   * The PID control period is 10ms
+   * The motor control period is 10ms
    *
    * @param s The static gain in volts.
-   * @param v The velocity gain in V/(units/s).
-   * @param a The acceleration gain in V/(units/s²).
+   * @return This object, for method chaining.
    */
-  void SetFF(double s, double v, double a);
+  ExpansionHubPositionConstants& SetS(double s);
 
   /**
    * Enables continuous input.
@@ -48,31 +48,36 @@ class ExpansionHubPidConstants {
    *
    * @param minimumInput The minimum value expected from the input.
    * @param maximumInput The maximum value expected from the input.
+   * @return This object, for method chaining.
    */
-  void EnableContinuousInput(double minimumInput, double maximumInput);
+  ExpansionHubPositionConstants& EnableContinuousInput(double minimumInput,
+                                                       double maximumInput);
 
   /**
-   * Disables continuous input.
+   * Disable continuous input mode.
+   *
+   * @return This object, for method chaining.
    */
-  void DisableContinuousInput();
+  ExpansionHubPositionConstants& DisableContinuousInput();
 
-  ExpansionHubPidConstants(ExpansionHubPidConstants&) = delete;
-  ExpansionHubPidConstants& operator=(ExpansionHubPidConstants&) = delete;
+  ExpansionHubPositionConstants(ExpansionHubPositionConstants&) = delete;
+  ExpansionHubPositionConstants& operator=(ExpansionHubPositionConstants&) =
+      delete;
 
-  ExpansionHubPidConstants(ExpansionHubPidConstants&&) = default;
-  ExpansionHubPidConstants& operator=(ExpansionHubPidConstants&&) = default;
+  ExpansionHubPositionConstants(ExpansionHubPositionConstants&&) = default;
+  ExpansionHubPositionConstants& operator=(ExpansionHubPositionConstants&&) =
+      default;
 
   friend class ExpansionHubMotor;
 
  private:
-  ExpansionHubPidConstants(int usbId, int channel, bool isVelocityPid);
+  ExpansionHubPositionConstants(int hubNumber, int motorNumber);
 
   wpi::nt::DoublePublisher m_pPublisher;
   wpi::nt::DoublePublisher m_iPublisher;
   wpi::nt::DoublePublisher m_dPublisher;
+
   wpi::nt::DoublePublisher m_sPublisher;
-  wpi::nt::DoublePublisher m_vPublisher;
-  wpi::nt::DoublePublisher m_aPublisher;
 
   wpi::nt::BooleanPublisher m_continuousPublisher;
   wpi::nt::DoublePublisher m_continuousMinimumPublisher;

wpilibc/src/main/native/include/wpi/hardware/expansionhub/ExpansionHubVelocityConstants.hpp

@@ -0,0 +1,64 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "wpi/nt/DoubleTopic.hpp"
+
+namespace wpi {
+class ExpansionHubMotor;
+
+/** This class contains feedback and feedforward constants for an ExpansionHub
+ * motor. */
+class ExpansionHubVelocityConstants {
+ public:
+  /**
+   * Sets the PID Controller gain parameters.
+   *
+   * Set the proportional, integral, and differential coefficients.
+   *
+   * @param p The proportional coefficient.
+   * @param i The integral coefficient.
+   * @param d The derivative coefficient.
+   * @return This object, for method chaining.
+   */
+  ExpansionHubVelocityConstants& SetPID(double p, double i, double d);
+
+  /**
+   * Sets the feed forward gains to the specified values.
+   *
+   * The units should be radians for angular systems and meters for linear
+   * systems.
+   *
+   * The motor control period is 10ms
+   *
+   * @param s The static gain in volts.
+   * @param v The velocity gain in volts per unit per second.
+   * @param a The acceleration gain in volts per unit per second squared.
+   * @return This object, for method chaining.
+   */
+  ExpansionHubVelocityConstants& SetFF(double s, double v, double a);
+
+  ExpansionHubVelocityConstants(ExpansionHubVelocityConstants&) = delete;
+  ExpansionHubVelocityConstants& operator=(ExpansionHubVelocityConstants&) =
+      delete;
+
+  ExpansionHubVelocityConstants(ExpansionHubVelocityConstants&&) = default;
+  ExpansionHubVelocityConstants& operator=(ExpansionHubVelocityConstants&&) =
+      default;
+
+  friend class ExpansionHubMotor;
+
+ private:
+  ExpansionHubVelocityConstants(int hubNumber, int motorNumber);
+
+  wpi::nt::DoublePublisher m_pPublisher;
+  wpi::nt::DoublePublisher m_iPublisher;
+  wpi::nt::DoublePublisher m_dPublisher;
+
+  wpi::nt::DoublePublisher m_sPublisher;
+  wpi::nt::DoublePublisher m_vPublisher;
+  wpi::nt::DoublePublisher m_aPublisher;
+};
+}  // namespace wpi

wpilibc/src/main/python/pyproject.toml

@@ -153,8 +153,9 @@ PWM = "wpi/hardware/discrete/PWM.hpp"
 # wpi/hardware/expansionhub
 ExpansionHub = "wpi/hardware/expansionhub/ExpansionHub.hpp"
 ExpansionHubMotor = "wpi/hardware/expansionhub/ExpansionHubMotor.hpp"
-ExpansionHubPidConstants = "wpi/hardware/expansionhub/ExpansionHubPidConstants.hpp"
+ExpansionHubPositionConstants = "wpi/hardware/expansionhub/ExpansionHubPositionConstants.hpp"
 ExpansionHubServo = "wpi/hardware/expansionhub/ExpansionHubServo.hpp"
+ExpansionHubVelocityConstants = "wpi/hardware/expansionhub/ExpansionHubVelocityConstants.hpp"
 
 # wpi/hardware/imu
 OnboardIMU = "wpi/hardware/imu/OnboardIMU.hpp"

wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml

@@ -14,7 +14,7 @@ classes:
       GetEncoderPosition:
       SetReversed:
       ResetEncoder:
-      GetVelocityPidConstants:
-      GetPositionPidConstants:
       IsHubConnected:
       Follow:
+      GetVelocityConstants:
+      GetPositionConstants:

wpilibc/src/main/python/semiwrap/ExpansionHubPositionConstants.yml

@@ -1,7 +1,7 @@
 classes:
-  wpi::ExpansionHubPidConstants:
+  wpi::ExpansionHubPositionConstants:
     methods:
       SetPID:
-      SetFF:
+      SetS:
       EnableContinuousInput:
       DisableContinuousInput:

wpilibc/src/main/python/semiwrap/ExpansionHubVelocityConstants.yml

@@ -0,0 +1,5 @@
+classes:
+  wpi::ExpansionHubVelocityConstants:
+    methods:
+      SetPID:
+      SetFF:

wpilibc/src/main/python/wpilib/__init__.py

@@ -29,8 +29,9 @@ from ._wpilib import (
     EventLoop,
     ExpansionHub,
     ExpansionHubMotor,
-    ExpansionHubPidConstants,
+    ExpansionHubPositionConstants,
     ExpansionHubServo,
+    ExpansionHubVelocityConstants,
     Field2d,
     FieldObject2d,
     Gamepad,
@@ -135,8 +136,9 @@ __all__ = [
     "EventLoop",
     "ExpansionHub",
     "ExpansionHubMotor",
-    "ExpansionHubPidConstants",
+    "ExpansionHubPositionConstants",
     "ExpansionHubServo",
+    "ExpansionHubVelocityConstants",
     "Field2d",
     "FieldObject2d",
     "Gamepad",