SCRIPT namespace replacements

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.hpp

@@ -22,7 +22,7 @@
  */
 
 namespace DriveConstants {
-inline constexpr units::second_t kDt{0.02};
+inline constexpr wpi::units::second_t kDt{0.02};
 inline constexpr int kLeftMotor1Port = 0;
 inline constexpr int kLeftMotor2Port = 1;
 inline constexpr int kRightMotor1Port = 2;

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp

@@ -11,7 +11,7 @@
 
 #include "RobotContainer.hpp"
 
-class Robot : public frc::TimedRobot {
+class Robot : public wpi::TimedRobot {
  public:
   Robot();
   void RobotPeriodic() override;
@@ -26,7 +26,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  std::optional<wpi::cmd::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.hpp

@@ -23,11 +23,11 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::CommandPtr GetAutonomousCommand();
+  wpi::cmd::CommandPtr GetAutonomousCommand();
 
  private:
   // The driver's controller
-  frc2::CommandXboxController m_driverController{
+  wpi::cmd::CommandXboxController m_driverController{
       OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
@@ -36,10 +36,10 @@ class RobotContainer {
   DriveSubsystem m_drive;
 
   // RobotContainer-owned commands
-  frc2::CommandPtr m_driveHalfSpeed =
-      frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {});
-  frc2::CommandPtr m_driveFullSpeed =
-      frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {});
+  wpi::cmd::CommandPtr m_driveHalfSpeed =
+      wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {});
+  wpi::cmd::CommandPtr m_driveFullSpeed =
+      wpi::cmd::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {});
 
   void ConfigureButtonBindings();
 };

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.hpp

@@ -16,7 +16,7 @@
 #include "Constants.hpp"
 #include "ExampleSmartMotorController.hpp"
 
-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public wpi::cmd::SubsystemBase {
  public:
   DriveSubsystem();
 
@@ -35,10 +35,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
    * @param nextLeft The next left wheel state.
    * @param nextRight The next right wheel state.
    */
-  void SetDriveStates(frc::TrapezoidProfile<units::meters>::State currentLeft,
-                      frc::TrapezoidProfile<units::meters>::State currentRight,
-                      frc::TrapezoidProfile<units::meters>::State nextLeft,
-                      frc::TrapezoidProfile<units::meters>::State nextRight);
+  void SetDriveStates(wpi::math::TrapezoidProfile<wpi::units::meters>::State currentLeft,
+                      wpi::math::TrapezoidProfile<wpi::units::meters>::State currentRight,
+                      wpi::math::TrapezoidProfile<wpi::units::meters>::State nextLeft,
+                      wpi::math::TrapezoidProfile<wpi::units::meters>::State nextRight);
 
   /**
    * Drives the robot using arcade controls.
@@ -58,14 +58,14 @@ class DriveSubsystem : public frc2::SubsystemBase {
    *
    * @return the average of the TWO encoder readings
    */
-  units::meter_t GetLeftEncoderDistance();
+  wpi::units::meter_t GetLeftEncoderDistance();
 
   /**
    * Gets the distance of the right encoder.
    *
    * @return the average of the TWO encoder readings
    */
-  units::meter_t GetRightEncoderDistance();
+  wpi::units::meter_t GetRightEncoderDistance();
 
   /**
    * Sets the max output of the drive.  Useful for scaling the drive to drive
@@ -82,7 +82,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
    * @param distance The distance to drive forward.
    * @return A command.
    */
-  frc2::CommandPtr ProfiledDriveDistance(units::meter_t distance);
+  wpi::cmd::CommandPtr ProfiledDriveDistance(wpi::units::meter_t distance);
 
   /**
    * Creates a command to drive forward a specified distance using a motion
@@ -91,14 +91,14 @@ class DriveSubsystem : public frc2::SubsystemBase {
    * @param distance The distance to drive forward.
    * @return A command.
    */
-  frc2::CommandPtr DynamicProfiledDriveDistance(units::meter_t distance);
+  wpi::cmd::CommandPtr DynamicProfiledDriveDistance(wpi::units::meter_t distance);
 
  private:
-  frc::TrapezoidProfile<units::meters> m_profile{
+  wpi::math::TrapezoidProfile<wpi::units::meters> m_profile{
       {DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration}};
-  frc::Timer m_timer;
-  units::meter_t m_initialLeftDistance;
-  units::meter_t m_initialRightDistance;
+  wpi::Timer m_timer;
+  wpi::units::meter_t m_initialLeftDistance;
+  wpi::units::meter_t m_initialRightDistance;
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
 
@@ -109,10 +109,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
   ExampleSmartMotorController m_rightFollower;
 
   // A feedforward component for the drive
-  frc::SimpleMotorFeedforward<units::meters> m_feedforward;
+  wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward;
 
   // The robot's drive
-  frc::DifferentialDrive m_drive{
+  wpi::DifferentialDrive m_drive{
       [&](double output) { m_leftLeader.Set(output); },
       [&](double output) { m_rightLeader.Set(output); }};
 };