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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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8
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java
View File

@@ -88,12 +88,12 @@ class ElevatorSimulationTest {
// advance 75 timesteps
SimHooks.stepTiming(1.5);
assertEquals(Constants.kSetpointMeters, m_encoderSim.getDistance(), 0.05);
assertEquals(Constants.kSetpoint, m_encoderSim.getDistance(), 0.05);
// advance 25 timesteps to see setpoint is held.
SimHooks.stepTiming(0.5);
assertEquals(Constants.kSetpointMeters, m_encoderSim.getDistance(), 0.05);
assertEquals(Constants.kSetpoint, m_encoderSim.getDistance(), 0.05);
}
{
@@ -115,12 +115,12 @@ class ElevatorSimulationTest {
// advance 75 timesteps
SimHooks.stepTiming(1.5);
assertEquals(Constants.kSetpointMeters, m_encoderSim.getDistance(), 0.05);
assertEquals(Constants.kSetpoint, m_encoderSim.getDistance(), 0.05);
// advance 25 timesteps to see setpoint is held.
SimHooks.stepTiming(0.5);
assertEquals(Constants.kSetpointMeters, m_encoderSim.getDistance(), 0.05);
assertEquals(Constants.kSetpoint, m_encoderSim.getDistance(), 0.05);
}
{

12
wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
View File

@@ -53,7 +53,7 @@ class PotentiometerPIDTest {
kCarriageMassKg,
kElevatorDrumRadius,
0.0,
Robot.kFullHeightMeters,
Robot.kFullHeight,
true,
0);
m_analogSim = new AnalogInputSim(Robot.kPotChannel);
@@ -74,7 +74,7 @@ class PotentiometerPIDTest {
*/
m_analogSim.setVoltage(
RobotController.getVoltage5V()
* (m_elevatorSim.getPositionMeters() / Robot.kFullHeightMeters));
* (m_elevatorSim.getPosition() / Robot.kFullHeight));
});
m_thread.start();
@@ -113,7 +113,7 @@ class PotentiometerPIDTest {
// advance 50 timesteps
SimHooks.stepTiming(1);
assertEquals(Robot.kSetpointsMeters[0], m_elevatorSim.getPositionMeters(), 0.1);
assertEquals(Robot.kSetpoints[0], m_elevatorSim.getPosition(), 0.1);
}
// second setpoint
@@ -125,7 +125,7 @@ class PotentiometerPIDTest {
// advance 50 timesteps
SimHooks.stepTiming(1);
assertEquals(Robot.kSetpointsMeters[1], m_elevatorSim.getPositionMeters(), 0.1);
assertEquals(Robot.kSetpoints[1], m_elevatorSim.getPosition(), 0.1);
}
// we need to unpress the button
@@ -146,7 +146,7 @@ class PotentiometerPIDTest {
// advance 50 timesteps
SimHooks.stepTiming(1);
assertEquals(Robot.kSetpointsMeters[2], m_elevatorSim.getPositionMeters(), 0.1);
assertEquals(Robot.kSetpoints[2], m_elevatorSim.getPosition(), 0.1);
}
// we need to unpress the button
@@ -167,7 +167,7 @@ class PotentiometerPIDTest {
// advance 60 timesteps
SimHooks.stepTiming(1.2);
assertEquals(Robot.kSetpointsMeters[0], m_elevatorSim.getPositionMeters(), 0.1);
assertEquals(Robot.kSetpoints[0], m_elevatorSim.getPosition(), 0.1);
}
}
}