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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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80
wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java
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@@ -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;