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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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4
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
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@@ -56,7 +56,7 @@ class Drivetrain {
void UpdateOdometry();
private:
static constexpr units::meter_t kTrackWidth = 0.381_m * 2;
static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
static constexpr double kWheelRadius = 0.0508; // meters
static constexpr int kEncoderResolution = 4096;
@@ -73,7 +73,7 @@ class Drivetrain {
frc::AnalogGyro m_gyro{0};
frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
frc::DifferentialDriveOdometry m_odometry{
m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}};

6
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
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@@ -111,7 +111,7 @@ class Drivetrain {
nt::DoubleArrayEntry& cameraToObjectEntry);
private:
static constexpr units::meter_t kTrackWidth = 0.381_m * 2;
static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
static constexpr units::meter_t kWheelRadius = 0.0508_m;
static constexpr int kEncoderResolution = 4096;
@@ -146,7 +146,7 @@ class Drivetrain {
frc::AnalogGyro m_gyro{0};
frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
// Gains are for example purposes only - must be determined for your own
// robot!
@@ -172,5 +172,5 @@ class Drivetrain {
frc::LinearSystemId::IdentifyDrivetrainSystem(
1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
m_drivetrainSystem, kTrackWidth, frc::DCMotor::CIM(2), 8, 2_in};
m_drivetrainSystem, kTrackwidth, frc::DCMotor::CIM(2), 8, 2_in};
};

8
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Constants.cpp
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@@ -7,10 +7,10 @@
namespace DriveConstants {
const frc::MecanumDriveKinematics kDriveKinematics{
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}};
} // namespace DriveConstants

6
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
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@@ -43,17 +43,17 @@ inline constexpr bool kRearLeftEncoderReversed = true;
inline constexpr bool kFrontRightEncoderReversed = false;
inline constexpr bool kRearRightEncoderReversed = true;
inline constexpr auto kTrackWidth =
inline constexpr auto kTrackwidth =
0.5_m; // Distance between centers of right and left wheels on robot
inline constexpr auto kWheelBase =
0.7_m; // Distance between centers of front and back wheels on robot
extern const frc::MecanumDriveKinematics kDriveKinematics;
inline constexpr int kEncoderCPR = 1024;
inline constexpr double kWheelDiameterMeters = 0.15;
inline constexpr auto kWheelDiameter = 0.15_m;
inline constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * std::numbers::pi) /
(kWheelDiameter.value() * std::numbers::pi) /
static_cast<double>(kEncoderCPR);
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!

6
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
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@@ -72,7 +72,7 @@ class Drivetrain {
void Periodic();
private:
static constexpr units::meter_t kTrackWidth = 0.381_m * 2;
static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
static constexpr double kWheelRadius = 0.0508; // meters
static constexpr int kEncoderResolution = 4096;
@@ -89,7 +89,7 @@ class Drivetrain {
frc::AnalogGyro m_gyro{0};
frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
frc::DifferentialDriveOdometry m_odometry{
m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}};
@@ -106,5 +106,5 @@ class Drivetrain {
frc::LinearSystemId::IdentifyDrivetrainSystem(
1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
m_drivetrainSystem, kTrackWidth, frc::DCMotor::CIM(2), 8, 2_in};
m_drivetrainSystem, kTrackwidth, frc::DCMotor::CIM(2), 8, 2_in};
};

4
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
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@@ -80,10 +80,10 @@ inline constexpr double kPRearRightVel = 0.5;
namespace ModuleConstants {
inline constexpr int kEncoderCPR = 1024;
inline constexpr double kWheelDiameterMeters = 0.15;
inline constexpr auto kWheelDiameter = 0.15_m;
inline constexpr double kDriveEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * std::numbers::pi) /
(kWheelDiameter.value() * std::numbers::pi) /
static_cast<double>(kEncoderCPR);
inline constexpr double kTurningEncoderDistancePerPulse =

10
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
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@@ -88,16 +88,16 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
void ResetOdometry(frc::Pose2d pose);
units::meter_t kTrackWidth =
units::meter_t kTrackwidth =
0.5_m; // Distance between centers of right and left wheels on robot
units::meter_t kWheelBase =
0.7_m; // Distance between centers of front and back wheels on robot
frc::SwerveDriveKinematics<4> kDriveKinematics{
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}};
private:
// Components (e.g. motor controllers and sensors) should generally be