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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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16
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
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@@ -33,13 +33,13 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
/**
* Constructs a differential drive kinematics object.
*
* @param trackWidth The track width of the drivetrain. Theoretically, this is
* @param trackwidth The trackwidth of the drivetrain. Theoretically, this is
* the distance between the left wheels and right wheels. However, the
* empirical value may be larger than the physical measured value due to
* scrubbing effects.
*/
constexpr explicit DifferentialDriveKinematics(units::meter_t trackWidth)
: trackWidth(trackWidth) {
constexpr explicit DifferentialDriveKinematics(units::meter_t trackwidth)
: trackwidth(trackwidth) {
if (!std::is_constant_evaluated()) {
wpi::math::MathSharedStore::ReportUsage("DifferentialDriveKinematics",
"");
@@ -56,7 +56,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
constexpr ChassisSpeeds ToChassisSpeeds(
const DifferentialDriveWheelSpeeds& wheelSpeeds) const override {
return {(wheelSpeeds.left + wheelSpeeds.right) / 2.0, 0_mps,
(wheelSpeeds.right - wheelSpeeds.left) / trackWidth * 1_rad};
(wheelSpeeds.right - wheelSpeeds.left) / trackwidth * 1_rad};
}
/**
@@ -69,8 +69,8 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
*/
constexpr DifferentialDriveWheelSpeeds ToWheelSpeeds(
const ChassisSpeeds& chassisSpeeds) const override {
return {chassisSpeeds.vx - trackWidth / 2 * chassisSpeeds.omega / 1_rad,
chassisSpeeds.vx + trackWidth / 2 * chassisSpeeds.omega / 1_rad};
return {chassisSpeeds.vx - trackwidth / 2 * chassisSpeeds.omega / 1_rad,
chassisSpeeds.vx + trackwidth / 2 * chassisSpeeds.omega / 1_rad};
}
/**
@@ -84,7 +84,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
constexpr Twist2d ToTwist2d(const units::meter_t leftDistance,
const units::meter_t rightDistance) const {
return {(leftDistance + rightDistance) / 2, 0_m,
(rightDistance - leftDistance) / trackWidth * 1_rad};
(rightDistance - leftDistance) / trackwidth * 1_rad};
}
constexpr Twist2d ToTwist2d(
@@ -100,7 +100,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
}
/// Differential drive trackwidth.
units::meter_t trackWidth;
units::meter_t trackwidth;
};
} // namespace frc

2
wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveKinematicsStruct.h
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@@ -15,7 +15,7 @@ struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveKinematics> {
return "DifferentialDriveKinematics";
}
static constexpr size_t GetSize() { return 8; }
static constexpr std::string_view GetSchema() { return "double track_width"; }
static constexpr std::string_view GetSchema() { return "double trackwidth"; }
static frc::DifferentialDriveKinematics Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data,

2
wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -419,7 +419,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param motor The motor (or gearbox) driving the drivetrain.
* @param mass The mass of the robot in kilograms.
* @param r The radius of the wheels in meters.
* @param rb The radius of the base (half of the track width), in meters.
* @param rb The radius of the base (half of the trackwidth), in meters.
* @param J The moment of inertia of the robot.
* @param gearing Gear ratio from motor to wheel.
* @throws std::domain_error if mass <= 0, r <= 0, rb <= 0, J <= 0, or

10
wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
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@@ -90,18 +90,18 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
if (speed == 0_mps) {
maxChassisAcceleration =
maxWheelAcceleration /
(1 + m_kinematics.trackWidth * units::math::abs(curvature) / (2_rad));
(1 + m_kinematics.trackwidth * units::math::abs(curvature) / (2_rad));
minChassisAcceleration =
minWheelAcceleration /
(1 + m_kinematics.trackWidth * units::math::abs(curvature) / (2_rad));
(1 + m_kinematics.trackwidth * units::math::abs(curvature) / (2_rad));
} else {
maxChassisAcceleration =
maxWheelAcceleration /
(1 + m_kinematics.trackWidth * units::math::abs(curvature) *
(1 + m_kinematics.trackwidth * units::math::abs(curvature) *
wpi::sgn(speed) / (2_rad));
minChassisAcceleration =
minWheelAcceleration /
(1 - m_kinematics.trackWidth * units::math::abs(curvature) *
(1 - m_kinematics.trackwidth * units::math::abs(curvature) *
wpi::sgn(speed) / (2_rad));
}
@@ -111,7 +111,7 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
// wheel when this happens. We can accurately account for this by simply
// negating the inner wheel.
if ((m_kinematics.trackWidth / 2) > 1_rad / units::math::abs(curvature)) {
if ((m_kinematics.trackwidth / 2) > 1_rad / units::math::abs(curvature)) {
if (speed > 0_mps) {
minChassisAcceleration = -minChassisAcceleration;
} else if (speed < 0_mps) {