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[wpiunits] Make Java units immutable only (#8115)

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Remove mutable implementations, as systemcore doesn't need mutability to keep performance under control.
This commit is contained in:
Sam Carlberg
2025-07-26 17:48:35 -04:00
committed by GitHub
parent 373eedc77b
commit 8d36df671b
114 changed files with 3449 additions and 5230 deletions
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28
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/subsystems/Drive.java
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@@ -8,9 +8,6 @@ import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.units.measure.MutDistance;
import edu.wpi.first.units.measure.MutLinearVelocity;
import edu.wpi.first.units.measure.MutVoltage;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -46,13 +43,6 @@ public class Drive extends SubsystemBase {
DriveConstants.kRightEncoderPorts[1],
DriveConstants.kRightEncoderReversed);
// Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
private final MutVoltage m_appliedVoltage = Volts.mutable(0);
// Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
private final MutDistance m_distance = Meters.mutable(0);
// Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
private final MutLinearVelocity m_velocity = MetersPerSecond.mutable(0);
// Create a new SysId routine for characterizing the drive.
private final SysIdRoutine m_sysIdRoutine =
new SysIdRoutine(
@@ -70,21 +60,15 @@ public class Drive extends SubsystemBase {
// Record a frame for the left motors. Since these share an encoder, we consider
// the entire group to be one motor.
log.motor("drive-left")
.voltage(
m_appliedVoltage.mut_replace(
m_leftMotor.get() * RobotController.getBatteryVoltage(), Volts))
.linearPosition(m_distance.mut_replace(m_leftEncoder.getDistance(), Meters))
.linearVelocity(
m_velocity.mut_replace(m_leftEncoder.getRate(), MetersPerSecond));
.voltage(Volts.of(m_leftMotor.get() * RobotController.getBatteryVoltage()))
.linearPosition(Meters.of(m_leftEncoder.getDistance()))
.linearVelocity(MetersPerSecond.of(m_leftEncoder.getRate()));
// Record a frame for the right motors. Since these share an encoder, we consider
// the entire group to be one motor.
log.motor("drive-right")
.voltage(
m_appliedVoltage.mut_replace(
m_rightMotor.get() * RobotController.getBatteryVoltage(), Volts))
.linearPosition(m_distance.mut_replace(m_rightEncoder.getDistance(), Meters))
.linearVelocity(
m_velocity.mut_replace(m_rightEncoder.getRate(), MetersPerSecond));
.voltage(Volts.of(m_rightMotor.get() * RobotController.getBatteryVoltage()))
.linearPosition(Meters.of(m_rightEncoder.getDistance()))
.linearVelocity(MetersPerSecond.of(m_rightEncoder.getRate()));
},
// Tell SysId to make generated commands require this subsystem, suffix test state in
// WPILog with this subsystem's name ("drive")

21
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/subsystems/Shooter.java
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@@ -4,17 +4,12 @@
package edu.wpi.first.wpilibj.examples.sysidroutine.subsystems;
import static edu.wpi.first.units.Units.Radians;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import static edu.wpi.first.units.Units.Volts;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.units.measure.MutAngle;
import edu.wpi.first.units.measure.MutAngularVelocity;
import edu.wpi.first.units.measure.MutVoltage;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.examples.sysidroutine.Constants.ShooterConstants;
@@ -38,13 +33,6 @@ public class Shooter extends SubsystemBase {
ShooterConstants.kEncoderPorts[1],
ShooterConstants.kEncoderReversed);
// Mutable holder for unit-safe voltage values, persisted to avoid reallocation.
private final MutVoltage m_appliedVoltage = Volts.mutable(0);
// Mutable holder for unit-safe linear distance values, persisted to avoid reallocation.
private final MutAngle m_angle = Radians.mutable(0);
// Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
private final MutAngularVelocity m_velocity = RadiansPerSecond.mutable(0);
// Create a new SysId routine for characterizing the shooter.
private final SysIdRoutine m_sysIdRoutine =
new SysIdRoutine(
@@ -58,12 +46,9 @@ public class Shooter extends SubsystemBase {
log -> {
// Record a frame for the shooter motor.
log.motor("shooter-wheel")
.voltage(
m_appliedVoltage.mut_replace(
m_shooterMotor.get() * RobotController.getBatteryVoltage(), Volts))
.angularPosition(m_angle.mut_replace(m_shooterEncoder.getDistance(), Rotations))
.angularVelocity(
m_velocity.mut_replace(m_shooterEncoder.getRate(), RotationsPerSecond));
.voltage(Volts.of(m_shooterMotor.get() * RobotController.getBatteryVoltage()))
.angularPosition(Rotations.of(m_shooterEncoder.getDistance()))
.angularVelocity(RotationsPerSecond.of(m_shooterEncoder.getRate()));
},
// Tell SysId to make generated commands require this subsystem, suffix test state in
// WPILog with this subsystem's name ("shooter")