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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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29
wpilibc/src/main/native/cpp/SharpIR.cpp
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@@ -7,6 +7,7 @@
#include <algorithm>
#include <hal/UsageReporting.h>
#include <units/length.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
@@ -15,29 +16,30 @@
using namespace frc;
SharpIR SharpIR::GP2Y0A02YK0F(int channel) {
return SharpIR(channel, 62.28, -1.092, 20, 150.0);
return SharpIR(channel, 62.28, -1.092, 20_cm, 150_cm);
}
SharpIR SharpIR::GP2Y0A21YK0F(int channel) {
return SharpIR(channel, 26.449, -1.226, 10.0, 80.0);
return SharpIR(channel, 26.449, -1.226, 10_cm, 80_cm);
}
SharpIR SharpIR::GP2Y0A41SK0F(int channel) {
return SharpIR(channel, 12.354, -1.07, 4.0, 30.0);
return SharpIR(channel, 12.354, -1.07, 4_cm, 30_cm);
}
SharpIR SharpIR::GP2Y0A51SK0F(int channel) {
return SharpIR(channel, 5.2819, -1.161, 2.0, 15.0);
return SharpIR(channel, 5.2819, -1.161, 2_cm, 15_cm);
}
SharpIR::SharpIR(int channel, double a, double b, double minCM, double maxCM)
: m_sensor(channel), m_A(a), m_B(b), m_minCM(minCM), m_maxCM(maxCM) {
SharpIR::SharpIR(int channel, double a, double b, units::meter_t min,
units::meter_t max)
: m_sensor(channel), m_A(a), m_B(b), m_min(min), m_max(max) {
HAL_ReportUsage("IO", channel, "SharpIR");
wpi::SendableRegistry::Add(this, "SharpIR", channel);
m_simDevice = hal::SimDevice("SharpIR", m_sensor.GetChannel());
if (m_simDevice) {
m_simRange = m_simDevice.CreateDouble("Range (cm)", false, 0.0);
m_simRange = m_simDevice.CreateDouble("Range (m)", false, 0.0);
m_sensor.SetSimDevice(m_simDevice);
}
}
@@ -46,19 +48,16 @@ int SharpIR::GetChannel() const {
return m_sensor.GetChannel();
}
units::centimeter_t SharpIR::GetRange() const {
double distance;
units::meter_t SharpIR::GetRange() const {
if (m_simRange) {
distance = m_simRange.Get();
return std::clamp(units::meter_t{m_simRange.Get()}, m_min, m_max);
} else {
// Don't allow zero/negative values
auto v = std::max(m_sensor.GetVoltage(), 0.00001);
distance = m_A * std::pow(v, m_B);
}
// Always constrain output
return units::centimeter_t{std::max(std::min(distance, m_maxCM), m_minCM)};
return std::clamp(units::meter_t{m_A * std::pow(v, m_B) * 1e-2}, m_min,
m_max);
}
}
void SharpIR::InitSendable(wpi::SendableBuilder& builder) {

10
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
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@@ -18,11 +18,11 @@ using namespace frc;
using namespace frc::sim;
DifferentialDrivetrainSim::DifferentialDrivetrainSim(
LinearSystem<2, 2, 2> plant, units::meter_t trackWidth, DCMotor driveMotor,
LinearSystem<2, 2, 2> plant, units::meter_t trackwidth, DCMotor driveMotor,
double gearRatio, units::meter_t wheelRadius,
const std::array<double, 7>& measurementStdDevs)
: m_plant(std::move(plant)),
m_rb(trackWidth / 2.0),
m_rb(trackwidth / 2.0),
m_wheelRadius(wheelRadius),
m_motor(driveMotor),
m_originalGearing(gearRatio),
@@ -36,11 +36,11 @@ DifferentialDrivetrainSim::DifferentialDrivetrainSim(
DifferentialDrivetrainSim::DifferentialDrivetrainSim(
frc::DCMotor driveMotor, double gearing, units::kilogram_square_meter_t J,
units::kilogram_t mass, units::meter_t wheelRadius,
units::meter_t trackWidth, const std::array<double, 7>& measurementStdDevs)
units::meter_t trackwidth, const std::array<double, 7>& measurementStdDevs)
: DifferentialDrivetrainSim(
frc::LinearSystemId::DrivetrainVelocitySystem(
driveMotor, mass, wheelRadius, trackWidth / 2.0, J, gearing),
trackWidth, driveMotor, gearing, wheelRadius, measurementStdDevs) {}
driveMotor, mass, wheelRadius, trackwidth / 2.0, J, gearing),
trackwidth, driveMotor, gearing, wheelRadius, measurementStdDevs) {}
Eigen::Vector2d DifferentialDrivetrainSim::ClampInput(
const Eigen::Vector2d& u) {

6
wpilibc/src/main/native/cpp/simulation/SharpIRSim.cpp
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@@ -16,9 +16,9 @@ SharpIRSim::SharpIRSim(const SharpIR& sharpIR)
SharpIRSim::SharpIRSim(int channel) {
frc::sim::SimDeviceSim deviceSim{"SharpIR", channel};
m_simRange = deviceSim.GetDouble("Range (cm)");
m_simRange = deviceSim.GetDouble("Range (m)");
}
void SharpIRSim::SetRange(units::centimeter_t rng) {
m_simRange.Set(rng.value());
void SharpIRSim::SetRange(units::meter_t range) {
m_simRange.Set(range.value());
}

8
wpilibc/src/main/native/include/frc/AddressableLED.h
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@@ -133,10 +133,10 @@ class AddressableLED {
* <p>By default, the driver is set up to drive WS2812B and WS2815, so nothing
* needs to be set for those.
*
* @param highTime0 high time for 0 bit (default 400ns)
* @param lowTime0 low time for 0 bit (default 900ns)
* @param highTime1 high time for 1 bit (default 900ns)
* @param lowTime1 low time for 1 bit (default 600ns)
* @param highTime0 high time for 0 bit (default 400 ns)
* @param lowTime0 low time for 0 bit (default 900 ns)
* @param highTime1 high time for 1 bit (default 900 ns)
* @param lowTime1 low time for 1 bit (default 600 ns)
*/
void SetBitTiming(units::nanosecond_t highTime0, units::nanosecond_t lowTime0,
units::nanosecond_t highTime1,

13
wpilibc/src/main/native/include/frc/SharpIR.h
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@@ -63,10 +63,11 @@ class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
* @param channel Analog input channel the sensor is connected to
* @param a Constant A
* @param b Constant B
* @param minCM Minimum distance to report in centimeters
* @param maxCM Maximum distance to report in centimeters
* @param min Minimum distance to report
* @param max Maximum distance to report
*/
SharpIR(int channel, double a, double b, double minCM, double maxCM);
SharpIR(int channel, double a, double b, units::meter_t min,
units::meter_t max);
/**
* Get the analog input channel number.
@@ -80,7 +81,7 @@ class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
*
* @return range of the target returned by the sensor
*/
units::centimeter_t GetRange() const;
units::meter_t GetRange() const;
void InitSendable(wpi::SendableBuilder& builder) override;
@@ -92,8 +93,8 @@ class SharpIR : public wpi::Sendable, public wpi::SendableHelper<SharpIR> {
double m_A;
double m_B;
double m_minCM;
double m_maxCM;
units::meter_t m_min;
units::meter_t m_max;
};
} // namespace frc

8
wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
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@@ -25,7 +25,7 @@ class DifferentialDrivetrainSim {
* system can be created with
* LinearSystemId::DrivetrainVelocitySystem() or
* LinearSystemId::IdentifyDrivetrainSystem().
* @param trackWidth The robot's track width.
* @param trackwidth The robot's trackwidth.
* @param driveMotor A DCMotor representing the left side of the drivetrain.
* @param gearingRatio The gearingRatio ratio of the left side, as output over
* input. This must be the same ratio as the ratio used to
@@ -41,7 +41,7 @@ class DifferentialDrivetrainSim {
* starting point.
*/
DifferentialDrivetrainSim(
LinearSystem<2, 2, 2> plant, units::meter_t trackWidth,
LinearSystem<2, 2, 2> plant, units::meter_t trackwidth,
DCMotor driveMotor, double gearingRatio, units::meter_t wheelRadius,
const std::array<double, 7>& measurementStdDevs = {});
@@ -56,7 +56,7 @@ class DifferentialDrivetrainSim {
* center.
* @param mass The mass of the drivebase.
* @param wheelRadius The radius of the wheels on the drivetrain.
* @param trackWidth The robot's track width, or distance between left and
* @param trackwidth The robot's trackwidth, or distance between left and
* right wheels.
* @param measurementStdDevs Standard deviations for measurements, in the form
* [x, y, heading, left velocity, right velocity,
@@ -70,7 +70,7 @@ class DifferentialDrivetrainSim {
DifferentialDrivetrainSim(
frc::DCMotor driveMotor, double gearing, units::kilogram_square_meter_t J,
units::kilogram_t mass, units::meter_t wheelRadius,
units::meter_t trackWidth,
units::meter_t trackwidth,
const std::array<double, 7>& measurementStdDevs = {});
/**

4
wpilibc/src/main/native/include/frc/simulation/SharpIRSim.h
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@@ -31,9 +31,9 @@ class SharpIRSim {
/**
* Set the range returned by the distance sensor.
*
* @param rng range of the target returned by the sensor
* @param range range of the target returned by the sensor
*/
void SetRange(units::centimeter_t rng);
void SetRange(units::meter_t range);
private:
hal::SimDouble m_simRange;