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[hal,wpilib] Rename Encoder constants to all caps

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This commit is contained in:
Peter Johnson
2026-03-14 11:12:57 -07:00
parent f6fdae3212
commit b68fbb1adc
14 changed files with 46 additions and 45 deletions
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14
hal/src/main/native/include/wpi/hal/Encoder.h
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@@ -18,19 +18,19 @@
* The type of index pulse for the encoder.
*/
HAL_ENUM(HAL_EncoderIndexingType) {
HAL_kResetWhileHigh,
HAL_kResetWhileLow,
HAL_kResetOnFallingEdge,
HAL_kResetOnRisingEdge
HAL_ENCODER_INDEX_RESET_WHILE_HIGH,
HAL_ENCODER_INDEX_RESET_WHILE_LOW,
HAL_ENCODER_INDEX_RESET_ON_FALLING_EDGE,
HAL_ENCODER_INDEX_RESET_ON_RISING_EDGE
};
/**
* The encoding scaling of the encoder.
*/
HAL_ENUM(HAL_EncoderEncodingType) {
HAL_Encoder_k1X,
HAL_Encoder_k2X,
HAL_Encoder_k4X
HAL_ENCODER_1X_ENCODING,
HAL_ENCODER_2X_ENCODING,
HAL_ENCODER_4X_ENCODING
};
#ifdef __cplusplus

18
hal/src/main/native/sim/Encoder.cpp
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@@ -72,7 +72,7 @@ HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
int32_t* status) {
wpi::hal::init::CheckInit();
HAL_Handle nativeHandle = HAL_kInvalidHandle;
if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
if (encodingType == HAL_EncoderEncodingType::HAL_ENCODER_4X_ENCODING) {
// k4x, allocate encoder
nativeHandle = fpgaEncoderHandles->Allocate();
} else {
@@ -104,7 +104,7 @@ HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
encoder->nativeHandle = nativeHandle;
encoder->encodingType = encodingType;
encoder->distancePerPulse = 1.0;
if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
if (encodingType == HAL_EncoderEncodingType::HAL_ENCODER_4X_ENCODING) {
encoder->fpgaHandle = nativeHandle;
encoder->counterHandle = HAL_kInvalidHandle;
} else {
@@ -139,11 +139,11 @@ void HAL_SetEncoderSimDevice(HAL_EncoderHandle handle,
static inline int EncodingScaleFactor(Encoder* encoder) {
switch (encoder->encodingType) {
case HAL_Encoder_k1X:
case HAL_ENCODER_1X_ENCODING:
return 1;
case HAL_Encoder_k2X:
case HAL_ENCODER_2X_ENCODING:
return 2;
case HAL_Encoder_k4X:
case HAL_ENCODER_4X_ENCODING:
return 4;
default:
return 0;
@@ -152,11 +152,11 @@ static inline int EncodingScaleFactor(Encoder* encoder) {
static inline double DecodingScaleFactor(Encoder* encoder) {
switch (encoder->encodingType) {
case HAL_Encoder_k1X:
case HAL_ENCODER_1X_ENCODING:
return 1.0;
case HAL_Encoder_k2X:
case HAL_ENCODER_2X_ENCODING:
return 0.5;
case HAL_Encoder_k4X:
case HAL_ENCODER_4X_ENCODING:
return 0.25;
default:
return 0.0;
@@ -365,7 +365,7 @@ HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return HAL_Encoder_k4X; // default to k4x
return HAL_ENCODER_4X_ENCODING; // default to k4x
}
return encoder->encodingType;

2
hal/src/main/native/systemcore/Encoder.cpp
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@@ -131,7 +131,7 @@ double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
HAL_EncoderHandle encoderHandle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return HAL_Encoder_k4X;
return HAL_ENCODER_4X_ENCODING;
}
int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,

2
robotpyExamples/Encoder/robot.py
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@@ -28,7 +28,7 @@ class MyRobot(wpilib.TimedRobot):
"""Robot initialization function"""
super().__init__()
self.encoder = wpilib.Encoder(1, 2, False, wpilib.Encoder.EncodingType.k4X)
self.encoder = wpilib.Encoder(1, 2, False, wpilib.Encoder.EncodingType.X4)
# Defines the number of samples to average when determining the rate.
# On a quadrature encoder, values range from 1-255;

8
wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
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@@ -144,7 +144,7 @@ void Encoder::InitSendable(wpi::util::SendableBuilder& builder) {
int32_t status = 0;
HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
WPILIB_CheckErrorStatus(status, "GetEncodingType");
if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
if (type == HAL_EncoderEncodingType::HAL_ENCODER_4X_ENCODING) {
builder.SetSmartDashboardType("Quadrature Encoder");
} else {
builder.SetSmartDashboardType("Encoder");
@@ -169,13 +169,13 @@ void Encoder::InitEncoder(int aChannel, int bChannel, bool reverseDirection,
const char* type = "Encoder";
switch (encodingType) {
case k1X:
case EncodingType::X1:
type = "Encoder:1x";
break;
case k2X:
case EncodingType::X2:
type = "Encoder:2x";
break;
case k4X:
case EncodingType::X4:
type = "Encoder:4x";
break;
}

3
wpilibc/src/main/native/include/wpi/hardware/discrete/CounterBase.hpp
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@@ -19,7 +19,8 @@ namespace wpi {
*/
class CounterBase {
public:
enum EncodingType { k1X, k2X, k4X };
/** The number of edges for the CounterBase to increment or decrement on. */
enum class EncodingType { X1, X2, X4 };
CounterBase() = default;
virtual ~CounterBase() = default;

6
wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp
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@@ -44,7 +44,7 @@ class Encoder : public CounterBase,
* @param reverseDirection represents the orientation of the encoder and
* inverts the output values if necessary so forward
* represents positive values.
* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
* @param encodingType either X1, X2, or X4 to indicate 1X, 2X or 4X
* decoding. If 4X is selected, then an encoder FPGA
* object is used and the returned counts will be 4x
* the encoder spec'd value since all rising and
@@ -54,7 +54,7 @@ class Encoder : public CounterBase,
* be double (2x) the spec'd count.
*/
Encoder(int aChannel, int bChannel, bool reverseDirection = false,
EncodingType encodingType = k4X);
EncodingType encodingType = EncodingType::X4);
Encoder(Encoder&&) = default;
Encoder& operator=(Encoder&&) = default;
@@ -256,7 +256,7 @@ class Encoder : public CounterBase,
* @param bChannel The b channel.
* @param reverseDirection If true, counts down instead of up (this is all
* relative)
* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
* @param encodingType either X1, X2, or X4 to indicate 1X, 2X or 4X
* decoding. If 4X is selected, then an encoder FPGA
* object is used and the returned counts will be 4x
* the encoder spec'd value since all rising and

4
wpilibc/src/main/python/semiwrap/Encoder.yml
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@@ -13,7 +13,7 @@ classes:
int, int, bool, EncodingType:
param_override:
encodingType:
default: wpi::Encoder::EncodingType::k4X
default: wpi::Encoder::EncodingType::X4
DigitalSource*, DigitalSource*, bool, EncodingType:
ignore: true
DigitalSource&, DigitalSource&, bool, EncodingType:
@@ -21,7 +21,7 @@ classes:
std::shared_ptr<DigitalSource>, std::shared_ptr<DigitalSource>, bool, EncodingType:
param_override:
encodingType:
default: wpi::Encoder::EncodingType::k4X
default: wpi::Encoder::EncodingType::X4
Get:
Reset:
GetPeriod:

6
wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
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@@ -72,11 +72,11 @@ class Robot : public wpi::TimedRobot {
* set this parameter to true, the direction of the encoder will be reversed,
* in case it makes more sense mechanically.
*
* The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X)
* and defaults to k4X. Faster (k4X) encoding gives greater positional
* The final (optional) parameter specifies encoding rate (X1, X2, or X4)
* and defaults to X4. Faster (X4) encoding gives greater positional
* precision but more noise in the rate.
*/
wpi::Encoder m_encoder{1, 2, false, wpi::Encoder::k4X};
wpi::Encoder m_encoder{1, 2, false, wpi::Encoder::EncodingType::X4};
};
#ifndef RUNNING_WPILIB_TESTS

2
wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp
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@@ -56,7 +56,7 @@ class Robot : public wpi::TimedRobot {
// Initializes an encoder on DIO pins 0 and 1
// 2X encoding and non-inverted
wpi::Encoder m_encoder2x{0, 1, false, wpi::Encoder::EncodingType::k2X};
wpi::Encoder m_encoder2x{0, 1, false, wpi::Encoder::EncodingType::X2};
};
#ifndef RUNNING_WPILIB_TESTS

6
wpilibj/src/main/java/org/wpilib/hardware/discrete/CounterBase.java
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@@ -16,11 +16,11 @@ public interface CounterBase {
/** The number of edges for the CounterBase to increment or decrement on. */
enum EncodingType {
/** Count only the rising edge. */
k1X(0),
X1(0),
/** Count both the rising and falling edge. */
k2X(1),
X2(1),
/** Count rising and falling on both channels. */
k4X(2);
X4(2);
/** EncodingType value. */
public final int value;

16
wpilibj/src/main/java/org/wpilib/hardware/rotation/Encoder.java
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@@ -48,9 +48,9 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
String typeStr =
switch (type) {
case k1X -> "Encoder:1x";
case k2X -> "Encoder:2x";
case k4X -> "Encoder:4x";
case X1 -> "Encoder:1x";
case X2 -> "Encoder:2x";
case X4 -> "Encoder:4x";
default -> "Encoder";
};
HAL.reportUsage("IO[" + aChannel + "," + bChannel + "]", typeStr);
@@ -70,7 +70,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
* if necessary so forward represents positive values.
*/
public Encoder(final int channelA, final int channelB, boolean reverseDirection) {
this(channelA, channelB, reverseDirection, EncodingType.k4X);
this(channelA, channelB, reverseDirection, EncodingType.X4);
}
/**
@@ -337,15 +337,15 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
*/
public double getDecodingScaleFactor() {
return switch (m_encodingType) {
case k1X -> 1.0;
case k2X -> 0.5;
case k4X -> 0.25;
case X1 -> 1.0;
case X2 -> 0.5;
case X4 -> 0.25;
};
}
@Override
public void initSendable(SendableBuilder builder) {
if (EncoderJNI.getEncoderEncodingType(m_encoder) == EncodingType.k4X.value) {
if (EncoderJNI.getEncoderEncodingType(m_encoder) == EncodingType.X4.value) {
builder.setSmartDashboardType("Quadrature Encoder");
} else {
builder.setSmartDashboardType("Encoder");

2
wpilibjExamples/src/main/java/org/wpilib/examples/encoder/Robot.java
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@@ -32,7 +32,7 @@ public class Robot extends TimedRobot {
* defaults to k4X. Faster (k4X) encoding gives greater positional precision but more noise in the
* rate.
*/
private final Encoder m_encoder = new Encoder(1, 2, false, CounterBase.EncodingType.k4X);
private final Encoder m_encoder = new Encoder(1, 2, false, CounterBase.EncodingType.X4);
/** Called once at the beginning of the robot program. */
public Robot() {

2
wpilibjExamples/src/main/java/org/wpilib/snippets/encoder/Robot.java
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@@ -19,7 +19,7 @@ public class Robot extends TimedRobot {
// Initializes an encoder on DIO pins 0 and 1
// 2X encoding and non-inverted
Encoder m_encoder2x = new Encoder(0, 1, false, Encoder.EncodingType.k2X);
Encoder m_encoder2x = new Encoder(0, 1, false, Encoder.EncodingType.X2);
/** Called once at the beginning of the robot program. */
public Robot() {