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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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30
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
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@@ -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}};