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SCRIPT namespace replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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50
wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
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@@ -9,35 +9,35 @@
TEST(MecanumDriveTest, CartesianIK) {
// Forward
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0);
auto speeds = wpi::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Left
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Right
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CCW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
@@ -46,35 +46,35 @@ TEST(MecanumDriveTest, CartesianIK) {
TEST(MecanumDriveTest, CartesianIKGyro90CW) {
// Forward in global frame; left in robot frame
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90_deg);
auto speeds = wpi::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Left in global frame; backward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90_deg);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Right in global frame; forward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90_deg);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CCW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90_deg);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90_deg);
speeds = wpi::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90_deg);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
@@ -82,11 +82,11 @@ TEST(MecanumDriveTest, CartesianIKGyro90CW) {
}
TEST(MecanumDriveTest, Cartesian) {
frc::MockPWMMotorController fl;
frc::MockPWMMotorController rl;
frc::MockPWMMotorController fr;
frc::MockPWMMotorController rr;
frc::MecanumDrive drive{[&](double output) { fl.Set(output); },
wpi::MockPWMMotorController fl;
wpi::MockPWMMotorController rl;
wpi::MockPWMMotorController fr;
wpi::MockPWMMotorController rr;
wpi::MecanumDrive drive{[&](double output) { fl.Set(output); },
[&](double output) { rl.Set(output); },
[&](double output) { fr.Set(output); },
[&](double output) { rr.Set(output); }};
@@ -129,11 +129,11 @@ TEST(MecanumDriveTest, Cartesian) {
}
TEST(MecanumDriveTest, CartesianGyro90CW) {
frc::MockPWMMotorController fl;
frc::MockPWMMotorController rl;
frc::MockPWMMotorController fr;
frc::MockPWMMotorController rr;
frc::MecanumDrive drive{[&](double output) { fl.Set(output); },
wpi::MockPWMMotorController fl;
wpi::MockPWMMotorController rl;
wpi::MockPWMMotorController fr;
wpi::MockPWMMotorController rr;
wpi::MecanumDrive drive{[&](double output) { fl.Set(output); },
[&](double output) { rl.Set(output); },
[&](double output) { fr.Set(output); },
[&](double output) { rr.Set(output); }};
@@ -176,11 +176,11 @@ TEST(MecanumDriveTest, CartesianGyro90CW) {
}
TEST(MecanumDriveTest, Polar) {
frc::MockPWMMotorController fl;
frc::MockPWMMotorController rl;
frc::MockPWMMotorController fr;
frc::MockPWMMotorController rr;
frc::MecanumDrive drive{[&](double output) { fl.Set(output); },
wpi::MockPWMMotorController fl;
wpi::MockPWMMotorController rl;
wpi::MockPWMMotorController fr;
wpi::MockPWMMotorController rr;
wpi::MecanumDrive drive{[&](double output) { fl.Set(output); },
[&](double output) { rl.Set(output); },
[&](double output) { fr.Set(output); },
[&](double output) { rr.Set(output); }};