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[wpimath] Remove unit suffixes from variable names (#7529)

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* Move units into API docs instead because suffixes make user code verbose and hard to read
* Rename trackWidth to trackwidth
* Make ultrasonic classes use meters instead of a mix of m, cm, mm, ft,
  and inches
This commit is contained in:
Tyler Veness
2025-02-10 07:23:04 -08:00
committed by GitHub
parent 764ada9b66
commit ac1705ae2b
250 changed files with 2953 additions and 3584 deletions
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6
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
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@@ -121,12 +121,12 @@ public final class Commands {
/**
* Constructs a command that does nothing, finishing after a specified duration.
*
* @param seconds after how long the command finishes
* @param time after how long the command finishes in seconds
* @return the command
* @see WaitCommand
*/
public static Command waitSeconds(double seconds) {
return new WaitCommand(seconds);
public static Command wait(double time) {
return new WaitCommand(time);
}
/**

66
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
View File

@@ -48,7 +48,7 @@ public class MecanumControllerCommand extends Command {
private final MecanumDriveKinematics m_kinematics;
private final HolonomicDriveController m_controller;
private final Supplier<Rotation2d> m_desiredRotation;
private final double m_maxWheelVelocityMetersPerSecond;
private final double m_maxWheelVelocity;
private final PIDController m_frontLeftController;
private final PIDController m_rearLeftController;
private final PIDController m_frontRightController;
@@ -79,7 +79,7 @@ public class MecanumControllerCommand extends Command {
* @param thetaController The Trajectory Tracker PID controller for angle for the robot.
* @param desiredRotation The angle that the robot should be facing. This is sampled at each time
* step.
* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel in m/s.
* @param frontLeftController The front left wheel velocity PID.
* @param rearLeftController The rear left wheel velocity PID.
* @param frontRightController The front right wheel velocity PID.
@@ -98,7 +98,7 @@ public class MecanumControllerCommand extends Command {
PIDController yController,
ProfiledPIDController thetaController,
Supplier<Rotation2d> desiredRotation,
double maxWheelVelocityMetersPerSecond,
double maxWheelVelocity,
PIDController frontLeftController,
PIDController rearLeftController,
PIDController frontRightController,
@@ -120,7 +120,7 @@ public class MecanumControllerCommand extends Command {
m_desiredRotation =
requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
m_maxWheelVelocityMetersPerSecond = maxWheelVelocityMetersPerSecond;
m_maxWheelVelocity = maxWheelVelocity;
m_frontLeftController =
requireNonNullParam(frontLeftController, "frontLeftController", "MecanumControllerCommand");
@@ -266,8 +266,7 @@ public class MecanumControllerCommand extends Command {
xController,
yController,
thetaController,
() ->
trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
() -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
maxWheelVelocityMetersPerSecond,
frontLeftController,
rearLeftController,
@@ -299,7 +298,7 @@ public class MecanumControllerCommand extends Command {
* @param xController The Trajectory Tracker PID controller for the robot's x position.
* @param yController The Trajectory Tracker PID controller for the robot's y position.
* @param thetaController The Trajectory Tracker PID controller for angle for the robot.
* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel in m/s.
* @param frontLeftController The front left wheel velocity PID.
* @param rearLeftController The rear left wheel velocity PID.
* @param frontRightController The front right wheel velocity PID.
@@ -318,7 +317,7 @@ public class MecanumControllerCommand extends Command {
PIDController xController,
PIDController yController,
ProfiledPIDController thetaController,
double maxWheelVelocityMetersPerSecond,
double maxWheelVelocity,
PIDController frontLeftController,
PIDController rearLeftController,
PIDController frontRightController,
@@ -334,7 +333,7 @@ public class MecanumControllerCommand extends Command {
xController,
yController,
thetaController,
maxWheelVelocityMetersPerSecond,
maxWheelVelocity,
frontLeftController,
rearLeftController,
frontRightController,
@@ -362,7 +361,7 @@ public class MecanumControllerCommand extends Command {
* @param thetaController The Trajectory Tracker PID controller for angle for the robot.
* @param desiredRotation The angle that the robot should be facing. This is sampled at each time
* step.
* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel in m/s.
* @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
* @param requirements The subsystems to require.
*/
@@ -375,7 +374,7 @@ public class MecanumControllerCommand extends Command {
PIDController yController,
ProfiledPIDController thetaController,
Supplier<Rotation2d> desiredRotation,
double maxWheelVelocityMetersPerSecond,
double maxWheelVelocity,
Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
Subsystem... requirements) {
m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
@@ -392,7 +391,7 @@ public class MecanumControllerCommand extends Command {
m_desiredRotation =
requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
m_maxWheelVelocityMetersPerSecond = maxWheelVelocityMetersPerSecond;
m_maxWheelVelocity = maxWheelVelocity;
m_frontLeftController = null;
m_rearLeftController = null;
@@ -430,7 +429,7 @@ public class MecanumControllerCommand extends Command {
* @param xController The Trajectory Tracker PID controller for the robot's x position.
* @param yController The Trajectory Tracker PID controller for the robot's y position.
* @param thetaController The Trajectory Tracker PID controller for angle for the robot.
* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
* @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
* @param requirements The subsystems to require.
*/
@@ -441,7 +440,7 @@ public class MecanumControllerCommand extends Command {
PIDController xController,
PIDController yController,
ProfiledPIDController thetaController,
double maxWheelVelocityMetersPerSecond,
double maxWheelVelocity,
Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
Subsystem... requirements) {
this(
@@ -451,9 +450,8 @@ public class MecanumControllerCommand extends Command {
xController,
yController,
thetaController,
() ->
trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
maxWheelVelocityMetersPerSecond,
() -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
maxWheelVelocity,
outputWheelSpeeds,
requirements);
}
@@ -462,18 +460,16 @@ public class MecanumControllerCommand extends Command {
public void initialize() {
var initialState = m_trajectory.sample(0);
var initialXVelocity =
initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getCos();
var initialYVelocity =
initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getSin();
var initialXVelocity = initialState.velocity * initialState.pose.getRotation().getCos();
var initialYVelocity = initialState.velocity * initialState.pose.getRotation().getSin();
MecanumDriveWheelSpeeds prevSpeeds =
m_kinematics.toWheelSpeeds(new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
m_prevFrontLeftSpeedSetpoint = prevSpeeds.frontLeftMetersPerSecond;
m_prevRearLeftSpeedSetpoint = prevSpeeds.rearLeftMetersPerSecond;
m_prevFrontRightSpeedSetpoint = prevSpeeds.frontRightMetersPerSecond;
m_prevRearRightSpeedSetpoint = prevSpeeds.rearRightMetersPerSecond;
m_prevFrontLeftSpeedSetpoint = prevSpeeds.frontLeft;
m_prevRearLeftSpeedSetpoint = prevSpeeds.rearLeft;
m_prevFrontRightSpeedSetpoint = prevSpeeds.frontRight;
m_prevRearRightSpeedSetpoint = prevSpeeds.rearRight;
m_timer.restart();
}
@@ -488,12 +484,12 @@ public class MecanumControllerCommand extends Command {
m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
targetWheelSpeeds = targetWheelSpeeds.desaturate(m_maxWheelVelocityMetersPerSecond);
targetWheelSpeeds = targetWheelSpeeds.desaturate(m_maxWheelVelocity);
double frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
double rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;
double frontRightSpeedSetpoint = targetWheelSpeeds.frontRightMetersPerSecond;
double rearRightSpeedSetpoint = targetWheelSpeeds.rearRightMetersPerSecond;
double frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeft;
double rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeft;
double frontRightSpeedSetpoint = targetWheelSpeeds.frontRight;
double rearRightSpeedSetpoint = targetWheelSpeeds.rearRight;
double frontLeftOutput;
double rearLeftOutput;
@@ -516,22 +512,22 @@ public class MecanumControllerCommand extends Command {
frontLeftOutput =
frontLeftFeedforward
+ m_frontLeftController.calculate(
m_currentWheelSpeeds.get().frontLeftMetersPerSecond, frontLeftSpeedSetpoint);
m_currentWheelSpeeds.get().frontLeft, frontLeftSpeedSetpoint);
rearLeftOutput =
rearLeftFeedforward
+ m_rearLeftController.calculate(
m_currentWheelSpeeds.get().rearLeftMetersPerSecond, rearLeftSpeedSetpoint);
m_currentWheelSpeeds.get().rearLeft, rearLeftSpeedSetpoint);
frontRightOutput =
frontRightFeedforward
+ m_frontRightController.calculate(
m_currentWheelSpeeds.get().frontRightMetersPerSecond, frontRightSpeedSetpoint);
m_currentWheelSpeeds.get().frontRight, frontRightSpeedSetpoint);
rearRightOutput =
rearRightFeedforward
+ m_rearRightController.calculate(
m_currentWheelSpeeds.get().rearRightMetersPerSecond, rearRightSpeedSetpoint);
m_currentWheelSpeeds.get().rearRight, rearRightSpeedSetpoint);
m_outputDriveVoltages.accept(
frontLeftOutput, frontRightOutput, rearLeftOutput, rearRightOutput);
@@ -553,7 +549,7 @@ public class MecanumControllerCommand extends Command {
@Override
public boolean isFinished() {
return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
return m_timer.hasElapsed(m_trajectory.getTotalTime());
}
/** A consumer to represent an operation on the voltages of a mecanum drive. */

8
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
View File

@@ -123,8 +123,7 @@ public class SwerveControllerCommand extends Command {
xController,
yController,
thetaController,
() ->
trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
() -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
outputModuleStates,
requirements);
}
@@ -162,8 +161,7 @@ public class SwerveControllerCommand extends Command {
pose,
kinematics,
controller,
() ->
trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
() -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
outputModuleStates,
requirements);
}
@@ -233,6 +231,6 @@ public class SwerveControllerCommand extends Command {
@Override
public boolean isFinished() {
return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
return m_timer.hasElapsed(m_trajectory.getTotalTime());
}
}

30
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
View File

@@ -60,24 +60,24 @@ class MecanumControllerCommandTest {
private static final double kAngularTolerance = 1 / 12.0;
private static final double kWheelBase = 0.5;
private static final double kTrackWidth = 0.5;
private static final double kTrackwidth = 0.5;
private final MecanumDriveKinematics m_kinematics =
new MecanumDriveKinematics(
new Translation2d(kWheelBase / 2, kTrackWidth / 2),
new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
new Translation2d(kWheelBase / 2, kTrackwidth / 2),
new Translation2d(kWheelBase / 2, -kTrackwidth / 2),
new Translation2d(-kWheelBase / 2, kTrackwidth / 2),
new Translation2d(-kWheelBase / 2, -kTrackwidth / 2));
private final MecanumDriveOdometry m_odometry =
new MecanumDriveOdometry(
m_kinematics, Rotation2d.kZero, new MecanumDriveWheelPositions(), Pose2d.kZero);
public void setWheelSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
this.m_frontLeftSpeed = wheelSpeeds.frontLeftMetersPerSecond;
this.m_rearLeftSpeed = wheelSpeeds.rearLeftMetersPerSecond;
this.m_frontRightSpeed = wheelSpeeds.frontRightMetersPerSecond;
this.m_rearRightSpeed = wheelSpeeds.rearRightMetersPerSecond;
this.m_frontLeftSpeed = wheelSpeeds.frontLeft;
this.m_rearLeftSpeed = wheelSpeeds.rearLeft;
this.m_frontRightSpeed = wheelSpeeds.frontRight;
this.m_rearRightSpeed = wheelSpeeds.rearRight;
}
public MecanumDriveWheelPositions getCurrentWheelDistances() {
@@ -87,7 +87,7 @@ class MecanumControllerCommandTest {
public Pose2d getRobotPose() {
m_odometry.update(m_angle, getCurrentWheelDistances());
return m_odometry.getPoseMeters();
return m_odometry.getPose();
}
@Test
@@ -101,7 +101,7 @@ class MecanumControllerCommandTest {
var config = new TrajectoryConfig(8.8, 0.1);
final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
final var endState = trajectory.sample(trajectory.getTotalTimeSeconds());
final var endState = trajectory.sample(trajectory.getTotalTime());
final var command =
new MecanumControllerCommand(
@@ -120,7 +120,7 @@ class MecanumControllerCommandTest {
command.initialize();
while (!command.isFinished()) {
command.execute();
m_angle = trajectory.sample(m_timer.get()).poseMeters.getRotation();
m_angle = trajectory.sample(m_timer.get()).pose.getRotation();
m_frontLeftDistance += m_frontLeftSpeed * 0.005;
m_rearLeftDistance += m_rearLeftSpeed * 0.005;
m_frontRightDistance += m_frontRightSpeed * 0.005;
@@ -131,11 +131,11 @@ class MecanumControllerCommandTest {
command.end(true);
assertAll(
() -> assertEquals(endState.poseMeters.getX(), getRobotPose().getX(), kxTolerance),
() -> assertEquals(endState.poseMeters.getY(), getRobotPose().getY(), kyTolerance),
() -> assertEquals(endState.pose.getX(), getRobotPose().getX(), kxTolerance),
() -> assertEquals(endState.pose.getY(), getRobotPose().getY(), kyTolerance),
() ->
assertEquals(
endState.poseMeters.getRotation().getRadians(),
endState.pose.getRotation().getRadians(),
getRobotPose().getRotation().getRadians(),
kAngularTolerance));
}

24
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
View File

@@ -67,14 +67,14 @@ class SwerveControllerCommandTest {
private static final double kAngularTolerance = 1 / 12.0;
private static final double kWheelBase = 0.5;
private static final double kTrackWidth = 0.5;
private static final double kTrackwidth = 0.5;
private final SwerveDriveKinematics m_kinematics =
new SwerveDriveKinematics(
new Translation2d(kWheelBase / 2, kTrackWidth / 2),
new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
new Translation2d(kWheelBase / 2, kTrackwidth / 2),
new Translation2d(kWheelBase / 2, -kTrackwidth / 2),
new Translation2d(-kWheelBase / 2, kTrackwidth / 2),
new Translation2d(-kWheelBase / 2, -kTrackwidth / 2));
private final SwerveDriveOdometry m_odometry =
new SwerveDriveOdometry(m_kinematics, Rotation2d.kZero, m_modulePositions, Pose2d.kZero);
@@ -86,7 +86,7 @@ class SwerveControllerCommandTest {
public Pose2d getRobotPose() {
m_odometry.update(m_angle, m_modulePositions);
return m_odometry.getPoseMeters();
return m_odometry.getPose();
}
@Test
@@ -100,7 +100,7 @@ class SwerveControllerCommandTest {
var config = new TrajectoryConfig(8.8, 0.1);
final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
final var endState = trajectory.sample(trajectory.getTotalTimeSeconds());
final var endState = trajectory.sample(trajectory.getTotalTime());
final var command =
new SwerveControllerCommand(
@@ -118,10 +118,10 @@ class SwerveControllerCommandTest {
command.initialize();
while (!command.isFinished()) {
command.execute();
m_angle = trajectory.sample(m_timer.get()).poseMeters.getRotation();
m_angle = trajectory.sample(m_timer.get()).pose.getRotation();
for (int i = 0; i < m_modulePositions.length; i++) {
m_modulePositions[i].distanceMeters += m_moduleStates[i].speedMetersPerSecond * 0.005;
m_modulePositions[i].distance += m_moduleStates[i].speed * 0.005;
m_modulePositions[i].angle = m_moduleStates[i].angle;
}
@@ -131,11 +131,11 @@ class SwerveControllerCommandTest {
command.end(true);
assertAll(
() -> assertEquals(endState.poseMeters.getX(), getRobotPose().getX(), kxTolerance),
() -> assertEquals(endState.poseMeters.getY(), getRobotPose().getY(), kyTolerance),
() -> assertEquals(endState.pose.getX(), getRobotPose().getX(), kxTolerance),
() -> assertEquals(endState.pose.getY(), getRobotPose().getY(), kyTolerance),
() ->
assertEquals(
endState.poseMeters.getRotation().getRadians(),
endState.pose.getRotation().getRadians(),
getRobotPose().getRotation().getRadians(),
kAngularTolerance));
}

10
wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
View File

@@ -51,13 +51,13 @@ class MecanumControllerCommandTest : public ::testing::Test {
static constexpr units::radian_t kAngularTolerance{1 / 12.0};
static constexpr units::meter_t kWheelBase{0.5};
static constexpr units::meter_t kTrackWidth{0.5};
static constexpr units::meter_t kTrackwidth{0.5};
frc::MecanumDriveKinematics m_kinematics{
frc::Translation2d{kWheelBase / 2, kTrackWidth / 2},
frc::Translation2d{kWheelBase / 2, -kTrackWidth / 2},
frc::Translation2d{-kWheelBase / 2, kTrackWidth / 2},
frc::Translation2d{-kWheelBase / 2, -kTrackWidth / 2}};
frc::Translation2d{kWheelBase / 2, kTrackwidth / 2},
frc::Translation2d{kWheelBase / 2, -kTrackwidth / 2},
frc::Translation2d{-kWheelBase / 2, kTrackwidth / 2},
frc::Translation2d{-kWheelBase / 2, -kTrackwidth / 2}};
frc::MecanumDriveOdometry m_odometry{m_kinematics, 0_rad,
getCurrentWheelDistances(),

10
wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
View File

@@ -51,13 +51,13 @@ class SwerveControllerCommandTest : public ::testing::Test {
static constexpr units::radian_t kAngularTolerance{1 / 12.0};
static constexpr units::meter_t kWheelBase{0.5};
static constexpr units::meter_t kTrackWidth{0.5};
static constexpr units::meter_t kTrackwidth{0.5};
frc::SwerveDriveKinematics<4> m_kinematics{
frc::Translation2d{kWheelBase / 2, kTrackWidth / 2},
frc::Translation2d{kWheelBase / 2, -kTrackWidth / 2},
frc::Translation2d{-kWheelBase / 2, kTrackWidth / 2},
frc::Translation2d{-kWheelBase / 2, -kTrackWidth / 2}};
frc::Translation2d{kWheelBase / 2, kTrackwidth / 2},
frc::Translation2d{kWheelBase / 2, -kTrackwidth / 2},
frc::Translation2d{-kWheelBase / 2, kTrackwidth / 2},
frc::Translation2d{-kWheelBase / 2, -kTrackwidth / 2}};
frc::SwerveDriveOdometry<4> m_odometry{m_kinematics, 0_rad, m_modulePositions,
frc::Pose2d{0_m, 0_m, 0_rad}};