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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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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};
};