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[wpilib] Rename drivetrain sim enums to all caps

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This commit is contained in:
Peter Johnson
2026-03-17 18:01:09 -07:00
parent a57d658ef1
commit f060c98992
5 changed files with 110 additions and 110 deletions
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28
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
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@@ -86,18 +86,18 @@ double DifferentialDrivetrainSim::GetState(int state) const {
}
wpi::math::Rotation2d DifferentialDrivetrainSim::GetHeading() const {
return wpi::units::radian_t{GetOutput(State::kHeading)};
return wpi::units::radian_t{GetOutput(State::HEADING)};
}
wpi::math::Pose2d DifferentialDrivetrainSim::GetPose() const {
return wpi::math::Pose2d{wpi::units::meter_t{GetOutput(State::kX)},
wpi::units::meter_t{GetOutput(State::kY)},
return wpi::math::Pose2d{wpi::units::meter_t{GetOutput(State::X)},
wpi::units::meter_t{GetOutput(State::Y)},
GetHeading()};
}
wpi::units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
return m_motor.Current(
wpi::units::radians_per_second_t{m_x(State::kLeftVelocity) *
wpi::units::radians_per_second_t{m_x(State::LEFT_VELOCITY) *
m_currentGearing /
m_wheelRadius.value()},
wpi::units::volt_t{m_u(0)}) *
@@ -106,7 +106,7 @@ wpi::units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
wpi::units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
return m_motor.Current(
wpi::units::radians_per_second_t{m_x(State::kRightVelocity) *
wpi::units::radians_per_second_t{m_x(State::RIGHT_VELOCITY) *
m_currentGearing /
m_wheelRadius.value()},
wpi::units::volt_t{m_u(1)}) *
@@ -122,11 +122,11 @@ void DifferentialDrivetrainSim::SetState(const wpi::math::Vectord<7>& state) {
}
void DifferentialDrivetrainSim::SetPose(const wpi::math::Pose2d& pose) {
m_x(State::kX) = pose.X().value();
m_x(State::kY) = pose.Y().value();
m_x(State::kHeading) = pose.Rotation().Radians().value();
m_x(State::kLeftPosition) = 0;
m_x(State::kRightPosition) = 0;
m_x(State::X) = pose.X().value();
m_x(State::Y) = pose.Y().value();
m_x(State::HEADING) = pose.Rotation().Radians().value();
m_x(State::LEFT_POSITION) = 0;
m_x(State::RIGHT_POSITION) = 0;
}
wpi::math::Vectord<7> DifferentialDrivetrainSim::Dynamics(
@@ -147,13 +147,13 @@ wpi::math::Vectord<7> DifferentialDrivetrainSim::Dynamics(
A.block<2, 2>(2, 0).setIdentity();
A.block<4, 2>(0, 2).setZero();
double v = (x(State::kLeftVelocity) + x(State::kRightVelocity)) / 2.0;
double v = (x(State::LEFT_VELOCITY) + x(State::RIGHT_VELOCITY)) / 2.0;
wpi::math::Vectord<7> xdot;
xdot(0) = v * std::cos(x(State::kHeading));
xdot(1) = v * std::sin(x(State::kHeading));
xdot(0) = v * std::cos(x(State::HEADING));
xdot(1) = v * std::sin(x(State::HEADING));
xdot(2) =
((x(State::kRightVelocity) - x(State::kLeftVelocity)) / (2.0 * m_rb))
((x(State::RIGHT_VELOCITY) - x(State::LEFT_VELOCITY)) / (2.0 * m_rb))
.value();
xdot.block<4, 1>(3, 0) = A * x.block<4, 1>(3, 0) + B * u;
return xdot;

54
wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp
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@@ -131,7 +131,7 @@ class DifferentialDrivetrainSim {
* @return The encoder position.
*/
wpi::units::meter_t GetRightPosition() const {
return wpi::units::meter_t{GetOutput(State::kRightPosition)};
return wpi::units::meter_t{GetOutput(State::RIGHT_POSITION)};
}
/**
@@ -139,7 +139,7 @@ class DifferentialDrivetrainSim {
* @return The encoder velocity.
*/
wpi::units::meters_per_second_t GetRightVelocity() const {
return wpi::units::meters_per_second_t{GetOutput(State::kRightVelocity)};
return wpi::units::meters_per_second_t{GetOutput(State::RIGHT_VELOCITY)};
}
/**
@@ -147,7 +147,7 @@ class DifferentialDrivetrainSim {
* @return The encoder position.
*/
wpi::units::meter_t GetLeftPosition() const {
return wpi::units::meter_t{GetOutput(State::kLeftPosition)};
return wpi::units::meter_t{GetOutput(State::LEFT_POSITION)};
}
/**
@@ -155,7 +155,7 @@ class DifferentialDrivetrainSim {
* @return The encoder velocity.
*/
wpi::units::meters_per_second_t GetLeftVelocity() const {
return wpi::units::meters_per_second_t{GetOutput(State::kLeftVelocity)};
return wpi::units::meters_per_second_t{GetOutput(State::LEFT_VELOCITY)};
}
/**
@@ -199,13 +199,13 @@ class DifferentialDrivetrainSim {
class State {
public:
static constexpr int kX = 0;
static constexpr int kY = 1;
static constexpr int kHeading = 2;
static constexpr int kLeftVelocity = 3;
static constexpr int kRightVelocity = 4;
static constexpr int kLeftPosition = 5;
static constexpr int kRightPosition = 6;
static constexpr int X = 0;
static constexpr int Y = 1;
static constexpr int HEADING = 2;
static constexpr int LEFT_VELOCITY = 3;
static constexpr int RIGHT_VELOCITY = 4;
static constexpr int LEFT_POSITION = 5;
static constexpr int RIGHT_POSITION = 6;
};
/**
@@ -219,15 +219,15 @@ class DifferentialDrivetrainSim {
class KitbotGearing {
public:
/// Gear ratio of 12.75:1.
static constexpr double k12p75 = 12.75;
static constexpr double RATIO_12P75 = 12.75;
/// Gear ratio of 10.71:1.
static constexpr double k10p71 = 10.71;
static constexpr double RATIO_10P71 = 10.71;
/// Gear ratio of 8.45:1.
static constexpr double k8p45 = 8.45;
static constexpr double RATIO_8P45 = 8.45;
/// Gear ratio of 7.31:1.
static constexpr double k7p31 = 7.31;
static constexpr double RATIO_7P31 = 7.31;
/// Gear ratio of 5.95:1.
static constexpr double k5p95 = 5.95;
static constexpr double RATIO_5P95 = 5.95;
};
/**
@@ -236,28 +236,28 @@ class DifferentialDrivetrainSim {
class KitbotMotor {
public:
/// One CIM motor per drive side.
static constexpr wpi::math::DCMotor SingleCIMPerSide =
static constexpr wpi::math::DCMotor SINGLE_CIM_PER_SIDE =
wpi::math::DCMotor::CIM(1);
/// Two CIM motors per drive side.
static constexpr wpi::math::DCMotor DualCIMPerSide =
static constexpr wpi::math::DCMotor DUAL_CIM_PER_SIDE =
wpi::math::DCMotor::CIM(2);
/// One Mini CIM motor per drive side.
static constexpr wpi::math::DCMotor SingleMiniCIMPerSide =
static constexpr wpi::math::DCMotor SINGLE_MINI_CIM_PER_SIDE =
wpi::math::DCMotor::MiniCIM(1);
/// Two Mini CIM motors per drive side.
static constexpr wpi::math::DCMotor DualMiniCIMPerSide =
static constexpr wpi::math::DCMotor DUAL_MINI_CIM_PER_SIDE =
wpi::math::DCMotor::MiniCIM(2);
/// One Falcon 500 motor per drive side.
static constexpr wpi::math::DCMotor SingleFalcon500PerSide =
static constexpr wpi::math::DCMotor SINGLE_FALCON_500_PER_SIDE =
wpi::math::DCMotor::Falcon500(1);
/// Two Falcon 500 motors per drive side.
static constexpr wpi::math::DCMotor DualFalcon500PerSide =
static constexpr wpi::math::DCMotor DUAL_FALCON_500_PER_SIDE =
wpi::math::DCMotor::Falcon500(2);
/// One NEO motor per drive side.
static constexpr wpi::math::DCMotor SingleNEOPerSide =
static constexpr wpi::math::DCMotor SINGLE_NEO_PER_SIDE =
wpi::math::DCMotor::NEO(1);
/// Two NEO motors per drive side.
static constexpr wpi::math::DCMotor DualNEOPerSide =
static constexpr wpi::math::DCMotor DUAL_NEO_PER_SIDE =
wpi::math::DCMotor::NEO(2);
};
@@ -267,11 +267,11 @@ class DifferentialDrivetrainSim {
class KitbotWheelSize {
public:
/// Six inch diameter wheels.
static constexpr wpi::units::meter_t kSixInch = 6_in;
static constexpr wpi::units::meter_t SIX_INCH = 6_in;
/// Eight inch diameter wheels.
static constexpr wpi::units::meter_t kEightInch = 8_in;
static constexpr wpi::units::meter_t EIGHT_INCH = 8_in;
/// Ten inch diameter wheels.
static constexpr wpi::units::meter_t kTenInch = 10_in;
static constexpr wpi::units::meter_t TEN_INCH = 10_in;
};
/**

46
wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml
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@@ -43,35 +43,35 @@ classes:
default: std::array<double, 7>{}
wpi::sim::DifferentialDrivetrainSim::State:
attributes:
kX:
kY:
kHeading:
kLeftVelocity:
kRightVelocity:
kLeftPosition:
kRightPosition:
X:
Y:
HEADING:
LEFT_VELOCITY:
RIGHT_VELOCITY:
LEFT_POSITION:
RIGHT_POSITION:
wpi::sim::DifferentialDrivetrainSim::KitbotGearing:
attributes:
k12p75:
k10p71:
k8p45:
k7p31:
k5p95:
RATIO_12P75:
RATIO_10P71:
RATIO_8P45:
RATIO_7P31:
RATIO_5P95:
wpi::sim::DifferentialDrivetrainSim::KitbotMotor:
attributes:
SingleCIMPerSide:
DualCIMPerSide:
SingleMiniCIMPerSide:
DualMiniCIMPerSide:
SingleFalcon500PerSide:
DualFalcon500PerSide:
SingleNEOPerSide:
DualNEOPerSide:
SINGLE_CIM_PER_SIDE:
DUAL_CIM_PER_SIDE:
SINGLE_MINI_CIM_PER_SIDE:
DUAL_MINI_CIM_PER_SIDE:
SINGLE_FALCON_500_PER_SIDE:
DUAL_FALCON_500_PER_SIDE:
SINGLE_NEO_PER_SIDE:
DUAL_NEO_PER_SIDE:
wpi::sim::DifferentialDrivetrainSim::KitbotWheelSize:
attributes:
kSixInch:
kEightInch:
kTenInch:
SIX_INCH:
EIGHT_INCH:
TEN_INCH:
inline_code: |-
cls_DifferentialDrivetrainSim

80
wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java
View File

@@ -177,7 +177,7 @@ public class DifferentialDrivetrainSim {
* @return The direction the robot is pointing.
*/
public Rotation2d getHeading() {
return new Rotation2d(getOutput(State.kHeading));
return new Rotation2d(getOutput(State.HEADING));
}
/**
@@ -186,7 +186,7 @@ public class DifferentialDrivetrainSim {
* @return The current pose.
*/
public Pose2d getPose() {
return new Pose2d(getOutput(State.kX), getOutput(State.kY), getHeading());
return new Pose2d(getOutput(State.X), getOutput(State.Y), getHeading());
}
/**
@@ -195,7 +195,7 @@ public class DifferentialDrivetrainSim {
* @return The encoder position in meters.
*/
public double getRightPosition() {
return getOutput(State.kRightPosition);
return getOutput(State.RIGHT_POSITION);
}
/**
@@ -204,7 +204,7 @@ public class DifferentialDrivetrainSim {
* @return The encoder velocity in meters per second.
*/
public double getRightVelocity() {
return getOutput(State.kRightVelocity);
return getOutput(State.RIGHT_VELOCITY);
}
/**
@@ -213,7 +213,7 @@ public class DifferentialDrivetrainSim {
* @return The encoder position in meters.
*/
public double getLeftPosition() {
return getOutput(State.kLeftPosition);
return getOutput(State.LEFT_POSITION);
}
/**
@@ -222,7 +222,7 @@ public class DifferentialDrivetrainSim {
* @return The encoder velocity in meters per second.
*/
public double getLeftVelocity() {
return getOutput(State.kLeftVelocity);
return getOutput(State.LEFT_VELOCITY);
}
/**
@@ -232,7 +232,7 @@ public class DifferentialDrivetrainSim {
*/
public double getLeftCurrentDraw() {
return m_motor.getCurrent(
getState(State.kLeftVelocity) * m_currentGearing / m_wheelRadius, m_u.get(0, 0))
getState(State.LEFT_VELOCITY) * m_currentGearing / m_wheelRadius, m_u.get(0, 0))
* Math.signum(m_u.get(0, 0));
}
@@ -243,7 +243,7 @@ public class DifferentialDrivetrainSim {
*/
public double getRightCurrentDraw() {
return m_motor.getCurrent(
getState(State.kRightVelocity) * m_currentGearing / m_wheelRadius, m_u.get(1, 0))
getState(State.RIGHT_VELOCITY) * m_currentGearing / m_wheelRadius, m_u.get(1, 0))
* Math.signum(m_u.get(1, 0));
}
@@ -289,11 +289,11 @@ public class DifferentialDrivetrainSim {
* @param pose The pose.
*/
public void setPose(Pose2d pose) {
m_x.set(State.kX.value, 0, pose.getX());
m_x.set(State.kY.value, 0, pose.getY());
m_x.set(State.kHeading.value, 0, pose.getRotation().getRadians());
m_x.set(State.kLeftPosition.value, 0, 0);
m_x.set(State.kRightPosition.value, 0, 0);
m_x.set(State.X.value, 0, pose.getX());
m_x.set(State.Y.value, 0, pose.getY());
m_x.set(State.HEADING.value, 0, pose.getRotation().getRadians());
m_x.set(State.LEFT_POSITION.value, 0, 0);
m_x.set(State.RIGHT_POSITION.value, 0, 0);
}
/**
@@ -323,15 +323,15 @@ public class DifferentialDrivetrainSim {
A.assignBlock(2, 0, Matrix.eye(Nat.N2()));
var v = (x.get(State.kLeftVelocity.value, 0) + x.get(State.kRightVelocity.value, 0)) / 2.0;
var v = (x.get(State.LEFT_VELOCITY.value, 0) + x.get(State.RIGHT_VELOCITY.value, 0)) / 2.0;
var xdot = new Matrix<>(Nat.N7(), Nat.N1());
xdot.set(0, 0, v * Math.cos(x.get(State.kHeading.value, 0)));
xdot.set(1, 0, v * Math.sin(x.get(State.kHeading.value, 0)));
xdot.set(0, 0, v * Math.cos(x.get(State.HEADING.value, 0)));
xdot.set(1, 0, v * Math.sin(x.get(State.HEADING.value, 0)));
xdot.set(
2,
0,
(x.get(State.kRightVelocity.value, 0) - x.get(State.kLeftVelocity.value, 0))
(x.get(State.RIGHT_VELOCITY.value, 0) - x.get(State.LEFT_VELOCITY.value, 0))
/ (2.0 * m_rb));
xdot.assignBlock(3, 0, A.times(x.block(Nat.N4(), Nat.N1(), 3, 0)).plus(B.times(u)));
@@ -351,13 +351,13 @@ public class DifferentialDrivetrainSim {
/** Represents the different states of the drivetrain. */
enum State {
kX(0),
kY(1),
kHeading(2),
kLeftVelocity(3),
kRightVelocity(4),
kLeftPosition(5),
kRightPosition(6);
X(0),
Y(1),
HEADING(2),
LEFT_VELOCITY(3),
RIGHT_VELOCITY(4),
LEFT_POSITION(5),
RIGHT_POSITION(6);
public final int value;
@@ -372,15 +372,15 @@ public class DifferentialDrivetrainSim {
*/
public enum KitbotGearing {
/** Gear ratio of 12.75:1. */
k12p75(12.75),
RATIO_12P75(12.75),
/** Gear ratio of 10.71:1. */
k10p71(10.71),
RATIO_10P71(10.71),
/** Gear ratio of 8.45:1. */
k8p45(8.45),
RATIO_8P45(8.45),
/** Gear ratio of 7.31:1. */
k7p31(7.31),
RATIO_7P31(7.31),
/** Gear ratio of 5.95:1. */
k5p95(5.95);
RATIO_5P95(5.95);
/** KitbotGearing value. */
public final double value;
@@ -393,21 +393,21 @@ public class DifferentialDrivetrainSim {
/** Represents common motor layouts of the kit drivetrain. */
public enum KitbotMotor {
/** One CIM motor per drive side. */
kSingleCIMPerSide(DCMotor.getCIM(1)),
SINGLE_CIM_PER_SIDE(DCMotor.getCIM(1)),
/** Two CIM motors per drive side. */
kDualCIMPerSide(DCMotor.getCIM(2)),
DUAL_CIM_PER_SIDE(DCMotor.getCIM(2)),
/** One Mini CIM motor per drive side. */
kSingleMiniCIMPerSide(DCMotor.getMiniCIM(1)),
SINGLE_MINI_CIM_PER_SIDE(DCMotor.getMiniCIM(1)),
/** Two Mini CIM motors per drive side. */
kDualMiniCIMPerSide(DCMotor.getMiniCIM(2)),
DUAL_MINI_CIM_PER_SIDE(DCMotor.getMiniCIM(2)),
/** One Falcon 500 motor per drive side. */
kSingleFalcon500PerSide(DCMotor.getFalcon500(1)),
SINGLE_FALCON_500_PER_SIDE(DCMotor.getFalcon500(1)),
/** Two Falcon 500 motors per drive side. */
kDoubleFalcon500PerSide(DCMotor.getFalcon500(2)),
DUAL_FALCON_500_PER_SIDE(DCMotor.getFalcon500(2)),
/** One NEO motor per drive side. */
kSingleNEOPerSide(DCMotor.getNEO(1)),
SINGLE_NEO_PER_SIDE(DCMotor.getNEO(1)),
/** Two NEO motors per drive side. */
kDoubleNEOPerSide(DCMotor.getNEO(2));
DUAL_NEO_PER_SIDE(DCMotor.getNEO(2));
/** KitbotMotor value. */
public final DCMotor value;
@@ -420,11 +420,11 @@ public class DifferentialDrivetrainSim {
/** Represents common wheel sizes of the kit drivetrain. */
public enum KitbotWheelSize {
/** Six inch diameter wheels. */
kSixInch(Units.inchesToMeters(6)),
SIX_INCH(Units.inchesToMeters(6)),
/** Eight inch diameter wheels. */
kEightInch(Units.inchesToMeters(8)),
EIGHT_INCH(Units.inchesToMeters(8)),
/** Ten inch diameter wheels. */
kTenInch(Units.inchesToMeters(10));
TEN_INCH(Units.inchesToMeters(10));
/** KitbotWheelSize value. */
public final double value;

12
wpilibj/src/test/java/org/wpilib/simulation/DifferentialDrivetrainSimTest.java
View File

@@ -81,16 +81,16 @@ class DifferentialDrivetrainSimTest {
// 2 inch tolerance is OK since our ground truth is an approximation of the
// ODE solution using RKDP anyway
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kX.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kX),
groundTruthX.get(DifferentialDrivetrainSim.State.X.value, 0),
sim.getState(DifferentialDrivetrainSim.State.X),
0.05);
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kY.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kY),
groundTruthX.get(DifferentialDrivetrainSim.State.Y.value, 0),
sim.getState(DifferentialDrivetrainSim.State.Y),
0.05);
assertEquals(
groundTruthX.get(DifferentialDrivetrainSim.State.kHeading.value, 0),
sim.getState(DifferentialDrivetrainSim.State.kHeading),
groundTruthX.get(DifferentialDrivetrainSim.State.HEADING.value, 0),
sim.getState(DifferentialDrivetrainSim.State.HEADING),
0.01);
}