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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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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
View File

@@ -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());
}