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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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40
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
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@@ -6,21 +6,21 @@
#include <wpi/math/kinematics/ChassisSpeeds.hpp>
frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
return {units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
units::meters_per_second_t{m_frontRightEncoder.GetRate()},
units::meters_per_second_t{m_backLeftEncoder.GetRate()},
units::meters_per_second_t{m_backRightEncoder.GetRate()}};
wpi::math::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
return {wpi::units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
wpi::units::meters_per_second_t{m_frontRightEncoder.GetRate()},
wpi::units::meters_per_second_t{m_backLeftEncoder.GetRate()},
wpi::units::meters_per_second_t{m_backRightEncoder.GetRate()}};
}
frc::MecanumDriveWheelPositions Drivetrain::GetCurrentWheelDistances() const {
return {units::meter_t{m_frontLeftEncoder.GetDistance()},
units::meter_t{m_frontRightEncoder.GetDistance()},
units::meter_t{m_backLeftEncoder.GetDistance()},
units::meter_t{m_backRightEncoder.GetDistance()}};
wpi::math::MecanumDriveWheelPositions Drivetrain::GetCurrentWheelDistances() const {
return {wpi::units::meter_t{m_frontLeftEncoder.GetDistance()},
wpi::units::meter_t{m_frontRightEncoder.GetDistance()},
wpi::units::meter_t{m_backLeftEncoder.GetDistance()},
wpi::units::meter_t{m_backRightEncoder.GetDistance()}};
}
void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
void Drivetrain::SetSpeeds(const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds) {
const auto frontLeftFeedforward =
m_feedforward.Calculate(wheelSpeeds.frontLeft);
const auto frontRightFeedforward =
@@ -39,21 +39,21 @@ void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
const double backRightOutput = m_backRightPIDController.Calculate(
m_backRightEncoder.GetRate(), wheelSpeeds.rearRight.value());
m_frontLeftMotor.SetVoltage(units::volt_t{frontLeftOutput} +
m_frontLeftMotor.SetVoltage(wpi::units::volt_t{frontLeftOutput} +
frontLeftFeedforward);
m_frontRightMotor.SetVoltage(units::volt_t{frontRightOutput} +
m_frontRightMotor.SetVoltage(wpi::units::volt_t{frontRightOutput} +
frontRightFeedforward);
m_backLeftMotor.SetVoltage(units::volt_t{backLeftOutput} +
m_backLeftMotor.SetVoltage(wpi::units::volt_t{backLeftOutput} +
backLeftFeedforward);
m_backRightMotor.SetVoltage(units::volt_t{backRightOutput} +
m_backRightMotor.SetVoltage(wpi::units::volt_t{backRightOutput} +
backRightFeedforward);
}
void Drivetrain::Drive(units::meters_per_second_t xSpeed,
units::meters_per_second_t ySpeed,
units::radians_per_second_t rot, bool fieldRelative,
units::second_t period) {
frc::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
void Drivetrain::Drive(wpi::units::meters_per_second_t xSpeed,
wpi::units::meters_per_second_t ySpeed,
wpi::units::radians_per_second_t rot, bool fieldRelative,
wpi::units::second_t period) {
wpi::math::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
if (fieldRelative) {
chassisSpeeds = chassisSpeeds.ToRobotRelative(m_imu.GetRotation2d());
}

12
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
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@@ -8,7 +8,7 @@
#include "Drivetrain.hpp"
class Robot : public frc::TimedRobot {
class Robot : public wpi::TimedRobot {
public:
void AutonomousPeriodic() override {
DriveWithJoystick(false);
@@ -18,14 +18,14 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override { DriveWithJoystick(true); }
private:
frc::XboxController m_controller{0};
wpi::XboxController m_controller{0};
Drivetrain m_mecanum;
// Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
// to 1.
frc::SlewRateLimiter<units::scalar> m_xspeedLimiter{3 / 1_s};
frc::SlewRateLimiter<units::scalar> m_yspeedLimiter{3 / 1_s};
frc::SlewRateLimiter<units::scalar> m_rotLimiter{3 / 1_s};
wpi::math::SlewRateLimiter<wpi::units::scalar> m_xspeedLimiter{3 / 1_s};
wpi::math::SlewRateLimiter<wpi::units::scalar> m_yspeedLimiter{3 / 1_s};
wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
void DriveWithJoystick(bool fieldRelative) {
// Get the x speed. We are inverting this because Xbox controllers return
@@ -52,6 +52,6 @@ class Robot : public frc::TimedRobot {
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
return wpi::StartRobot<Robot>();
}
#endif

56
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
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@@ -30,50 +30,50 @@ class Drivetrain {
m_backRightMotor.SetInverted(true);
}
frc::MecanumDriveWheelSpeeds GetCurrentState() const;
frc::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
void Drive(units::meters_per_second_t xSpeed,
units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
bool fieldRelative, units::second_t period);
wpi::math::MecanumDriveWheelSpeeds GetCurrentState() const;
wpi::math::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
void SetSpeeds(const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds);
void Drive(wpi::units::meters_per_second_t xSpeed,
wpi::units::meters_per_second_t ySpeed, wpi::units::radians_per_second_t rot,
bool fieldRelative, wpi::units::second_t period);
void UpdateOdometry();
static constexpr units::meters_per_second_t kMaxSpeed =
static constexpr wpi::units::meters_per_second_t kMaxSpeed =
3.0_mps; // 3 meters per second
static constexpr units::radians_per_second_t kMaxAngularSpeed{
static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
std::numbers::pi}; // 1/2 rotation per second
private:
frc::PWMSparkMax m_frontLeftMotor{1};
frc::PWMSparkMax m_frontRightMotor{2};
frc::PWMSparkMax m_backLeftMotor{3};
frc::PWMSparkMax m_backRightMotor{4};
wpi::PWMSparkMax m_frontLeftMotor{1};
wpi::PWMSparkMax m_frontRightMotor{2};
wpi::PWMSparkMax m_backLeftMotor{3};
wpi::PWMSparkMax m_backRightMotor{4};
frc::Encoder m_frontLeftEncoder{0, 1};
frc::Encoder m_frontRightEncoder{2, 3};
frc::Encoder m_backLeftEncoder{4, 5};
frc::Encoder m_backRightEncoder{6, 7};
wpi::Encoder m_frontLeftEncoder{0, 1};
wpi::Encoder m_frontRightEncoder{2, 3};
wpi::Encoder m_backLeftEncoder{4, 5};
wpi::Encoder m_backRightEncoder{6, 7};
frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
wpi::math::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
wpi::math::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
wpi::math::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
wpi::math::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
frc::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
frc::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
frc::MecanumDriveKinematics m_kinematics{
wpi::math::MecanumDriveKinematics m_kinematics{
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
m_backRightLocation};
frc::MecanumDriveOdometry m_odometry{m_kinematics, m_imu.GetRotation2d(),
wpi::math::MecanumDriveOdometry m_odometry{m_kinematics, m_imu.GetRotation2d(),
GetCurrentWheelDistances()};
// Gains are for example purposes only - must be determined for your own
// robot!
frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
};