[glass] Use .controllable to set widgets' read-only state (#3035)

This modifies the mecanum drive, differential drive, speed controller,
and PID controller widgets to only be writeable when .controllable is
set to true.

.github/workflows/documentation.yml

@@ -0,0 +1,58 @@
+name: Documentation
+
+on: [push, workflow_dispatch]
+
+env:
+  BASE_PATH: allwpilib/docs
+
+jobs:
+  publish:
+    name: "Documentation - Publish"
+    runs-on: ubuntu-latest
+    if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v'))
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+          persist-credentials: false
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 13
+      - name: Set environment variables (Development)
+        run: |
+          echo "TARGET_FOLDER=$BASE_PATH/development" >> $GITHUB_ENV
+        if: github.ref == 'refs/heads/master'
+      - name: Set environment variables (Tag)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "TARGET_FOLDER=$BASE_PATH/beta" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v')
+      - name: Set environment variables (Release)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "TARGET_FOLDER=$BASE_PATH/release" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
+      - name: Build with Gradle
+        run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+      - name: Install SSH Client 🔑
+        uses: webfactory/ssh-agent@v0.4.1
+        with:
+          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
+      - name: Deploy Java 🚀
+        uses: JamesIves/github-pages-deploy-action@3.7.1
+        with:
+          SSH: true
+          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
+          BRANCH: main
+          CLEAN: true
+          FOLDER: docs/build/docs/javadoc
+          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/java
+      - name: Deploy C++ 🚀
+        uses: JamesIves/github-pages-deploy-action@3.7.1
+        with:
+          SSH: true
+          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
+          BRANCH: main
+          CLEAN: true
+          FOLDER: docs/build/docs/doxygen/html
+          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/cpp

build.gradle

@@ -11,7 +11,7 @@ plugins {
     id 'visual-studio'
     id 'net.ltgt.errorprone' version '1.1.1' apply false
     id 'com.github.johnrengelman.shadow' version '5.2.0' apply false
-    id 'com.diffplug.gradle.spotless' version '4.5.0'
+    id 'com.diffplug.spotless' version '5.5.0'
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -135,6 +135,7 @@ spotless {
             include '**/*.java'
             exclude '**/build/**', '**/build-*/**'
         }
+        toggleOffOn()
         googleJavaFormat()
         removeUnusedImports()
         trimTrailingWhitespace()

glass/src/lib/native/cpp/hardware/SpeedController.cpp

@@ -5,6 +5,7 @@
 #include "glass/hardware/SpeedController.h"
 
 #include <imgui.h>
+#include <imgui_internal.h>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -22,6 +23,12 @@ void glass::DisplaySpeedController(SpeedControllerModel* m) {
     return;
   }
 
+  // Set the buttons and sliders to read-only if the model is read-only.
+  if (m->IsReadOnly()) {
+    ImGui::PushItemFlag(ImGuiItemFlags_Disabled, true);
+    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(210, 210, 210, 255));
+  }
+
   // Add button to zero output.
   if (ImGui::Button("Zero")) {
     m->SetPercent(0.0);
@@ -31,7 +38,13 @@ void glass::DisplaySpeedController(SpeedControllerModel* m) {
   // Display a slider for the data.
   float value = dc->GetValue();
   ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
+
   if (dc->SliderFloat("% Output", &value, -1.0f, 1.0f)) {
     m->SetPercent(value);
   }
+
+  if (m->IsReadOnly()) {
+    ImGui::PopStyleColor();
+    ImGui::PopItemFlag();
+  }
 }

glass/src/lib/native/cpp/other/Drive.cpp

@@ -106,6 +106,12 @@ void glass::DisplayDrive(DriveModel* m) {
     drawArrow(arrowPos, a2 + adder);
   }
 
+  // Set the buttons and sliders to read-only if the model is read-only.
+  if (m->IsReadOnly()) {
+    ImGui::PushItemFlag(ImGuiItemFlags_Disabled, true);
+    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(210, 210, 210, 255));
+  }
+
   // Add sliders for the wheel percentages.
   ImGui::SetCursorPosY(y2 - pos.y + ImGui::GetFontSize() * 0.5);
   for (auto&& wheel : wheels) {
@@ -124,4 +130,9 @@ void glass::DisplayDrive(DriveModel* m) {
       }
     }
   }
+
+  if (m->IsReadOnly()) {
+    ImGui::PopStyleColor();
+    ImGui::PopItemFlag();
+  }
 }

glass/src/lib/native/cpp/other/PIDController.cpp

@@ -20,10 +20,12 @@ void glass::DisplayPIDController(PIDControllerModel* m) {
   }
 
   if (m->Exists()) {
-    auto createTuningParameter = [](const char* name, double* v,
-                                    std::function<void(double)> callback) {
+    auto flag = m->IsReadOnly() ? ImGuiInputTextFlags_ReadOnly
+                                : ImGuiInputTextFlags_None;
+    auto createTuningParameter = [flag](const char* name, double* v,
+                                        std::function<void(double)> callback) {
       ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
-      if (ImGui::InputDouble(name, v, 0.0, 0.0, "%.3f")) {
+      if (ImGui::InputDouble(name, v, 0.0, 0.0, "%.3f", flag)) {
         callback(*v);
       }
     };

glass/src/libnt/native/cpp/NTDifferentialDrive.cpp

@@ -16,12 +16,14 @@ NTDifferentialDriveModel::NTDifferentialDriveModel(NT_Inst instance,
                                                    wpi::StringRef path)
     : m_nt(instance),
       m_name(m_nt.GetEntry(path + "/.name")),
+      m_controllable(m_nt.GetEntry(path + "/.controllable")),
       m_lPercent(m_nt.GetEntry(path + "/Left Motor Speed")),
       m_rPercent(m_nt.GetEntry(path + "/Right Motor Speed")),
       m_nameValue(path.rsplit('/').second),
       m_lPercentData("NTDiffDriveL:" + path),
       m_rPercentData("NTDiffDriveR:" + path) {
   m_nt.AddListener(m_name);
+  m_nt.AddListener(m_controllable);
   m_nt.AddListener(m_lPercent);
   m_nt.AddListener(m_rPercent);
 
@@ -44,6 +46,9 @@ void NTDifferentialDriveModel::Update() {
     } else if (event.entry == m_rPercent && event.value &&
                event.value->IsDouble()) {
       m_rPercentData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_controllable && event.value &&
+               event.value->IsBoolean()) {
+      m_controllableValue = event.value->GetBoolean();
     }
   }
 

glass/src/libnt/native/cpp/NTMecanumDrive.cpp

@@ -15,6 +15,7 @@ NTMecanumDriveModel::NTMecanumDriveModel(wpi::StringRef path)
 NTMecanumDriveModel::NTMecanumDriveModel(NT_Inst instance, wpi::StringRef path)
     : m_nt(instance),
       m_name(m_nt.GetEntry(path + "/.name")),
+      m_controllable(m_nt.GetEntry(path + "/.controllable")),
       m_flPercent(m_nt.GetEntry(path + "/Front Left Motor Speed")),
       m_frPercent(m_nt.GetEntry(path + "/Front Right Motor Speed")),
       m_rlPercent(m_nt.GetEntry(path + "/Rear Left Motor Speed")),
@@ -25,6 +26,7 @@ NTMecanumDriveModel::NTMecanumDriveModel(NT_Inst instance, wpi::StringRef path)
       m_rlPercentData("NTMcnmDriveRL:" + path),
       m_rrPercentData("NTMcnmDriveRR:" + path) {
   m_nt.AddListener(m_name);
+  m_nt.AddListener(m_controllable);
   m_nt.AddListener(m_flPercent);
   m_nt.AddListener(m_frPercent);
   m_nt.AddListener(m_rlPercent);
@@ -63,6 +65,9 @@ void NTMecanumDriveModel::Update() {
     } else if (event.entry == m_rrPercent && event.value &&
                event.value->IsDouble()) {
       m_rrPercentData.SetValue(event.value->GetDouble());
+    } else if (event.entry == m_controllable && event.value &&
+               event.value->IsBoolean()) {
+      m_controllableValue = event.value->GetBoolean();
     }
   }
 

glass/src/libnt/native/cpp/NTPIDController.cpp

@@ -13,6 +13,7 @@ NTPIDControllerModel::NTPIDControllerModel(NT_Inst instance,
                                            wpi::StringRef path)
     : m_nt(instance),
       m_name(m_nt.GetEntry(path + "/.name")),
+      m_controllable(m_nt.GetEntry(path + "/.controllable")),
       m_p(m_nt.GetEntry(path + "/p")),
       m_i(m_nt.GetEntry(path + "/i")),
       m_d(m_nt.GetEntry(path + "/d")),
@@ -23,6 +24,7 @@ NTPIDControllerModel::NTPIDControllerModel(NT_Inst instance,
       m_setpointData("NTPIDCtrlStpt:" + path),
       m_nameValue(path.rsplit('/').second) {
   m_nt.AddListener(m_name);
+  m_nt.AddListener(m_controllable);
   m_nt.AddListener(m_p);
   m_nt.AddListener(m_i);
   m_nt.AddListener(m_d);
@@ -67,6 +69,10 @@ void NTPIDControllerModel::Update() {
       if (event.value && event.value->IsDouble()) {
         m_setpointData.SetValue(event.value->GetDouble());
       }
+    } else if (event.entry == m_controllable) {
+      if (event.value && event.value->IsBoolean()) {
+        m_controllableValue = event.value->GetBoolean();
+      }
     }
   }
 }

glass/src/libnt/native/cpp/NTSpeedController.cpp

@@ -14,10 +14,12 @@ NTSpeedControllerModel::NTSpeedControllerModel(NT_Inst instance,
     : m_nt(instance),
       m_value(m_nt.GetEntry(path + "/Value")),
       m_name(m_nt.GetEntry(path + "/.name")),
+      m_controllable(m_nt.GetEntry(path + "/.controllable")),
       m_valueData("NT_SpdCtrl:" + path),
       m_nameValue(path.rsplit('/').second) {
   m_nt.AddListener(m_value);
   m_nt.AddListener(m_name);
+  m_nt.AddListener(m_controllable);
 }
 
 void NTSpeedControllerModel::SetPercent(double value) {
@@ -34,6 +36,10 @@ void NTSpeedControllerModel::Update() {
       if (event.value && event.value->IsString()) {
         m_nameValue = event.value->GetString();
       }
+    } else if (event.entry == m_controllable) {
+      if (event.value && event.value->IsBoolean()) {
+        m_controllableValue = event.value->GetBoolean();
+      }
     }
   }
 }

glass/src/libnt/native/include/glass/networktables/NTDifferentialDrive.h

@@ -33,15 +33,17 @@ class NTDifferentialDriveModel : public DriveModel {
 
   void Update() override;
   bool Exists() override;
-  bool IsReadOnly() override { return false; }
+  bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
   NetworkTablesHelper m_nt;
   NT_Entry m_name;
+  NT_Entry m_controllable;
   NT_Entry m_lPercent;
   NT_Entry m_rPercent;
 
   std::string m_nameValue;
+  bool m_controllableValue = false;
   DataSource m_lPercentData;
   DataSource m_rPercentData;
 

glass/src/libnt/native/include/glass/networktables/NTMecanumDrive.h

@@ -33,17 +33,19 @@ class NTMecanumDriveModel : public DriveModel {
 
   void Update() override;
   bool Exists() override;
-  bool IsReadOnly() override { return false; }
+  bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
   NetworkTablesHelper m_nt;
   NT_Entry m_name;
+  NT_Entry m_controllable;
   NT_Entry m_flPercent;
   NT_Entry m_frPercent;
   NT_Entry m_rlPercent;
   NT_Entry m_rrPercent;
 
   std::string m_nameValue;
+  bool m_controllableValue = false;
   DataSource m_flPercentData;
   DataSource m_frPercentData;
   DataSource m_rlPercentData;

glass/src/libnt/native/include/glass/networktables/NTPIDController.h

@@ -35,11 +35,12 @@ class NTPIDControllerModel : public PIDControllerModel {
 
   void Update() override;
   bool Exists() override;
-  bool IsReadOnly() override { return false; }
+  bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
   NetworkTablesHelper m_nt;
   NT_Entry m_name;
+  NT_Entry m_controllable;
   NT_Entry m_p;
   NT_Entry m_i;
   NT_Entry m_d;
@@ -51,5 +52,6 @@ class NTPIDControllerModel : public PIDControllerModel {
   DataSource m_setpointData;
 
   std::string m_nameValue;
+  bool m_controllableValue = false;
 };
 }  // namespace glass

glass/src/libnt/native/include/glass/networktables/NTSpeedController.h

@@ -29,14 +29,16 @@ class NTSpeedControllerModel : public SpeedControllerModel {
 
   void Update() override;
   bool Exists() override;
-  bool IsReadOnly() override { return false; }
+  bool IsReadOnly() override { return !m_controllableValue; }
 
  private:
   NetworkTablesHelper m_nt;
   NT_Entry m_value;
   NT_Entry m_name;
+  NT_Entry m_controllable;
 
   DataSource m_valueData;
   std::string m_nameValue;
+  bool m_controllableValue = false;
 };
 }  // namespace glass

ntcore/src/main/native/include/networktables/NetworkTableEntry.inl

@@ -79,7 +79,7 @@ inline std::string NetworkTableEntry::GetRaw(StringRef defaultValue) const {
   if (!value || value->type() != NT_RAW) {
     return defaultValue;
   }
-  return value->GetString();
+  return value->GetRaw();
 }
 
 inline std::vector<int> NetworkTableEntry::GetBooleanArray(

simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp

@@ -146,12 +146,7 @@ class GlfwKeyboardJoystick : public KeyboardJoystick {
  public:
   explicit GlfwKeyboardJoystick(int index, bool noDefaults = false);
 
-  const char* GetKeyName(int key) const override {
-    if (key < 0) {
-      return "(None)";
-    }
-    return glfwGetKeyName(key, 0);
-  }
+  const char* GetKeyName(int key) const override;
 };
 
 struct RobotJoystick {
@@ -274,7 +269,7 @@ class FMSSimModel : public glass::FMSModel {
 // system joysticks
 static std::vector<std::unique_ptr<SystemJoystick>> gGlfwJoysticks;
 static int gNumGlfwJoysticks = 0;
-static std::vector<std::unique_ptr<KeyboardJoystick>> gKeyboardJoysticks;
+static std::vector<std::unique_ptr<GlfwKeyboardJoystick>> gKeyboardJoysticks;
 
 // robot joysticks
 static RobotJoystick gRobotJoysticks[HAL_kMaxJoysticks];
@@ -427,9 +422,9 @@ static void* KeyboardJoystickReadOpen(ImGuiContext* ctx,
   if (num < 0 || num >= static_cast<int>(gKeyboardJoysticks.size())) {
     return nullptr;
   }
-  auto& joy = gKeyboardJoysticks[num];
-  joy = std::make_unique<GlfwKeyboardJoystick>(num, true);
-  return joy.get();
+  auto joy = gKeyboardJoysticks[num].get();
+  *joy = GlfwKeyboardJoystick(num, true);
+  return joy;
 }
 
 static void KeyboardJoystickReadLine(ImGuiContext* ctx,
@@ -1088,6 +1083,40 @@ GlfwKeyboardJoystick::GlfwKeyboardJoystick(int index, bool noDefaults)
   }
 }
 
+const char* GlfwKeyboardJoystick::GetKeyName(int key) const {
+  if (key < 0) {
+    return "(None)";
+  }
+  const char* name = glfwGetKeyName(key, 0);
+  if (name) {
+    return name;
+  }
+  // glfwGetKeyName sometimes doesn't have these keys
+  switch (key) {
+    case GLFW_KEY_RIGHT:
+      return "Right";
+    case GLFW_KEY_LEFT:
+      return "Left";
+    case GLFW_KEY_DOWN:
+      return "Down";
+    case GLFW_KEY_UP:
+      return "Up";
+    case GLFW_KEY_INSERT:
+      return "Insert";
+    case GLFW_KEY_HOME:
+      return "Home";
+    case GLFW_KEY_PAGE_UP:
+      return "PgUp";
+    case GLFW_KEY_DELETE:
+      return "Delete";
+    case GLFW_KEY_END:
+      return "End";
+    case GLFW_KEY_PAGE_DOWN:
+      return "PgDn";
+  }
+  return "(Unknown)";
+}
+
 void RobotJoystick::Update() {
   Clear();
   if (sys) {

wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp

@@ -48,7 +48,7 @@ bool ElevatorSim::HasHitUpperLimit(const Eigen::Matrix<double, 2, 1>& x) const {
 }
 
 units::meter_t ElevatorSim::GetPosition() const {
-  return units::meter_t{m_x(0)};
+  return units::meter_t{m_y(0)};
 }
 
 units::meters_per_second_t ElevatorSim::GetVelocity() const {

wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp

@@ -50,7 +50,7 @@ bool SingleJointedArmSim::HasHitUpperLimit(
 }
 
 units::radian_t SingleJointedArmSim::GetAngle() const {
-  return units::radian_t{m_x(0)};
+  return units::radian_t{m_y(0)};
 }
 
 units::radians_per_second_t SingleJointedArmSim::GetVelocity() const {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java

@@ -199,7 +199,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * @return The current arm angle.
    */
   public double getAngleRads() {
-    return m_x.get(0, 0);
+    return m_y.get(0, 0);
   }
 
   /**

wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/DCMotor.java

@@ -8,20 +8,29 @@ import edu.wpi.first.wpilibj.util.Units;
 
 /** Holds the constants for a DC motor. */
 public class DCMotor {
-  public final double m_nominalVoltageVolts;
-  public final double m_stallTorqueNewtonMeters;
-  public final double m_stallCurrentAmps;
-  public final double m_freeCurrentAmps;
-  public final double m_freeSpeedRadPerSec;
+  @SuppressWarnings("MemberName")
+  public final double nominalVoltageVolts;
 
   @SuppressWarnings("MemberName")
-  public final double m_rOhms;
+  public final double stallTorqueNewtonMeters;
 
   @SuppressWarnings("MemberName")
-  public final double m_KvRadPerSecPerVolt;
+  public final double stallCurrentAmps;
 
   @SuppressWarnings("MemberName")
-  public final double m_KtNMPerAmp;
+  public final double freeCurrentAmps;
+
+  @SuppressWarnings("MemberName")
+  public final double freeSpeedRadPerSec;
+
+  @SuppressWarnings("MemberName")
+  public final double rOhms;
+
+  @SuppressWarnings("MemberName")
+  public final double KvRadPerSecPerVolt;
+
+  @SuppressWarnings("MemberName")
+  public final double KtNMPerAmp;
 
   /**
    * Constructs a DC motor.
@@ -31,23 +40,25 @@ public class DCMotor {
    * @param stallCurrentAmps Current draw when stalled.
    * @param freeCurrentAmps Current draw under no load.
    * @param freeSpeedRadPerSec Angular velocity under no load.
+   * @param numMotors Number of motors in a gearbox.
    */
   public DCMotor(
       double nominalVoltageVolts,
       double stallTorqueNewtonMeters,
       double stallCurrentAmps,
       double freeCurrentAmps,
-      double freeSpeedRadPerSec) {
-    this.m_nominalVoltageVolts = nominalVoltageVolts;
-    this.m_stallTorqueNewtonMeters = stallTorqueNewtonMeters;
-    this.m_stallCurrentAmps = stallCurrentAmps;
-    this.m_freeCurrentAmps = freeCurrentAmps;
-    this.m_freeSpeedRadPerSec = freeSpeedRadPerSec;
+      double freeSpeedRadPerSec,
+      int numMotors) {
+    this.nominalVoltageVolts = nominalVoltageVolts;
+    this.stallTorqueNewtonMeters = stallTorqueNewtonMeters * numMotors;
+    this.stallCurrentAmps = stallCurrentAmps * numMotors;
+    this.freeCurrentAmps = freeCurrentAmps * numMotors;
+    this.freeSpeedRadPerSec = freeSpeedRadPerSec;
 
-    this.m_rOhms = nominalVoltageVolts / stallCurrentAmps;
-    this.m_KvRadPerSecPerVolt =
-        freeSpeedRadPerSec / (nominalVoltageVolts - m_rOhms * freeCurrentAmps);
-    this.m_KtNMPerAmp = stallTorqueNewtonMeters / stallCurrentAmps;
+    this.rOhms = nominalVoltageVolts / this.stallCurrentAmps;
+    this.KvRadPerSecPerVolt =
+        freeSpeedRadPerSec / (nominalVoltageVolts - rOhms * this.freeCurrentAmps);
+    this.KtNMPerAmp = this.stallTorqueNewtonMeters / this.stallCurrentAmps;
   }
 
   /**
@@ -57,8 +68,7 @@ public class DCMotor {
    * @param voltageInputVolts The input voltage.
    */
   public double getCurrent(double speedRadiansPerSec, double voltageInputVolts) {
-    return -1.0 / m_KvRadPerSecPerVolt / m_rOhms * speedRadiansPerSec
-        + 1.0 / m_rOhms * voltageInputVolts;
+    return -1.0 / KvRadPerSecPerVolt / rOhms * speedRadiansPerSec + 1.0 / rOhms * voltageInputVolts;
   }
 
   /**
@@ -68,7 +78,7 @@ public class DCMotor {
    */
   public static DCMotor getCIM(int numMotors) {
     return new DCMotor(
-        12, 2.42 * numMotors, 133, 2.7, Units.rotationsPerMinuteToRadiansPerSecond(5310));
+        12, 2.42, 133, 2.7, Units.rotationsPerMinuteToRadiansPerSecond(5310), numMotors);
   }
 
   /**
@@ -77,9 +87,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getVex775Pro(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 0.71, 134, 0.7, Units.rotationsPerMinuteToRadiansPerSecond(18730)),
-        numMotors);
+    return new DCMotor(
+        12, 0.71, 134, 0.7, Units.rotationsPerMinuteToRadiansPerSecond(18730), numMotors);
   }
 
   /**
@@ -88,9 +97,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getNEO(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 2.6, 105, 1.8, Units.rotationsPerMinuteToRadiansPerSecond(5676)),
-        numMotors);
+    return new DCMotor(
+        12, 2.6, 105, 1.8, Units.rotationsPerMinuteToRadiansPerSecond(5676), numMotors);
   }
 
   /**
@@ -99,8 +107,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getMiniCIM(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 1.41, 89, 3, Units.rotationsPerMinuteToRadiansPerSecond(5840)), numMotors);
+    return new DCMotor(
+        12, 1.41, 89, 3, Units.rotationsPerMinuteToRadiansPerSecond(5840), numMotors);
   }
 
   /**
@@ -109,9 +117,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getBag(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 0.43, 53, 1.8, Units.rotationsPerMinuteToRadiansPerSecond(13180)),
-        numMotors);
+    return new DCMotor(
+        12, 0.43, 53, 1.8, Units.rotationsPerMinuteToRadiansPerSecond(13180), numMotors);
   }
 
   /**
@@ -120,9 +127,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getAndymarkRs775_125(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 0.28, 18, 1.6, Units.rotationsPerMinuteToRadiansPerSecond(5800.0)),
-        numMotors);
+    return new DCMotor(
+        12, 0.28, 18, 1.6, Units.rotationsPerMinuteToRadiansPerSecond(5800.0), numMotors);
   }
 
   /**
@@ -131,9 +137,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getBanebotsRs775(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 0.72, 97, 2.7, Units.rotationsPerMinuteToRadiansPerSecond(13050.0)),
-        numMotors);
+    return new DCMotor(
+        12, 0.72, 97, 2.7, Units.rotationsPerMinuteToRadiansPerSecond(13050.0), numMotors);
   }
 
   /**
@@ -142,9 +147,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getAndymark9015(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 0.36, 71, 3.7, Units.rotationsPerMinuteToRadiansPerSecond(14270.0)),
-        numMotors);
+    return new DCMotor(
+        12, 0.36, 71, 3.7, Units.rotationsPerMinuteToRadiansPerSecond(14270.0), numMotors);
   }
 
   /**
@@ -153,9 +157,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getBanebotsRs550(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 0.38, 84, 0.4, Units.rotationsPerMinuteToRadiansPerSecond(19000.0)),
-        numMotors);
+    return new DCMotor(
+        12, 0.38, 84, 0.4, Units.rotationsPerMinuteToRadiansPerSecond(19000.0), numMotors);
   }
 
   /**
@@ -164,9 +167,8 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getNeo550(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 0.97, 100, 1.4, Units.rotationsPerMinuteToRadiansPerSecond(11000.0)),
-        numMotors);
+    return new DCMotor(
+        12, 0.97, 100, 1.4, Units.rotationsPerMinuteToRadiansPerSecond(11000.0), numMotors);
   }
 
   /**
@@ -175,17 +177,7 @@ public class DCMotor {
    * @param numMotors Number of motors in the gearbox.
    */
   public static DCMotor getFalcon500(int numMotors) {
-    return gearbox(
-        new DCMotor(12, 4.69, 257, 1.5, Units.rotationsPerMinuteToRadiansPerSecond(6380.0)),
-        numMotors);
-  }
-
-  private static DCMotor gearbox(DCMotor motor, double numMotors) {
     return new DCMotor(
-        motor.m_nominalVoltageVolts,
-        motor.m_stallTorqueNewtonMeters * numMotors,
-        motor.m_stallCurrentAmps,
-        motor.m_freeCurrentAmps,
-        motor.m_freeSpeedRadPerSec);
+        12, 4.69, 257, 1.5, Units.rotationsPerMinuteToRadiansPerSecond(6380.0), numMotors);
   }
 }

wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java

@@ -35,13 +35,13 @@ public final class LinearSystemId {
                 1,
                 0,
                 -Math.pow(G, 2)
-                    * motor.m_KtNMPerAmp
-                    / (motor.m_rOhms
+                    * motor.KtNMPerAmp
+                    / (motor.rOhms
                         * radiusMeters
                         * radiusMeters
                         * massKg
-                        * motor.m_KvRadPerSecPerVolt)),
-        VecBuilder.fill(0, G * motor.m_KtNMPerAmp / (motor.m_rOhms * radiusMeters * massKg)),
+                        * motor.KvRadPerSecPerVolt)),
+        VecBuilder.fill(0, G * motor.KtNMPerAmp / (motor.rOhms * radiusMeters * massKg)),
         Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0),
         new Matrix<>(Nat.N1(), Nat.N1()));
   }
@@ -61,9 +61,9 @@ public final class LinearSystemId {
         VecBuilder.fill(
             -G
                 * G
-                * motor.m_KtNMPerAmp
-                / (motor.m_KvRadPerSecPerVolt * motor.m_rOhms * jKgMetersSquared)),
-        VecBuilder.fill(G * motor.m_KtNMPerAmp / (motor.m_rOhms * jKgMetersSquared)),
+                * motor.KtNMPerAmp
+                / (motor.KvRadPerSecPerVolt * motor.rOhms * jKgMetersSquared)),
+        VecBuilder.fill(G * motor.KtNMPerAmp / (motor.rOhms * jKgMetersSquared)),
         Matrix.eye(Nat.N1()),
         new Matrix<>(Nat.N1(), Nat.N1()));
   }
@@ -89,10 +89,8 @@ public final class LinearSystemId {
       double JKgMetersSquared,
       double G) {
     var C1 =
-        -(G * G)
-            * motor.m_KtNMPerAmp
-            / (motor.m_KvRadPerSecPerVolt * motor.m_rOhms * rMeters * rMeters);
-    var C2 = G * motor.m_KtNMPerAmp / (motor.m_rOhms * rMeters);
+        -(G * G) * motor.KtNMPerAmp / (motor.KvRadPerSecPerVolt * motor.rOhms * rMeters * rMeters);
+    var C2 = G * motor.KtNMPerAmp / (motor.rOhms * rMeters);
 
     final double C3 = 1 / massKg + rbMeters * rbMeters / JKgMetersSquared;
     final double C4 = 1 / massKg - rbMeters * rbMeters / JKgMetersSquared;
@@ -123,9 +121,9 @@ public final class LinearSystemId {
                 1,
                 0,
                 -Math.pow(G, 2)
-                    * motor.m_KtNMPerAmp
-                    / (motor.m_KvRadPerSecPerVolt * motor.m_rOhms * jKgSquaredMeters)),
-        VecBuilder.fill(0, G * motor.m_KtNMPerAmp / (motor.m_rOhms * jKgSquaredMeters)),
+                    * motor.KtNMPerAmp
+                    / (motor.KvRadPerSecPerVolt * motor.rOhms * jKgSquaredMeters)),
+        VecBuilder.fill(0, G * motor.KtNMPerAmp / (motor.rOhms * jKgSquaredMeters)),
         Matrix.mat(Nat.N1(), Nat.N2()).fill(1, 0),
         new Matrix<>(Nat.N1(), Nat.N1()));
   }

wpimath/src/main/native/include/frc/system/plant/DCMotor.h

@@ -55,12 +55,12 @@ class DCMotor {
                     units::radians_per_second_t freeSpeed, int numMotors = 1)
       : nominalVoltage(nominalVoltage),
         stallTorque(stallTorque * numMotors),
-        stallCurrent(stallCurrent),
-        freeCurrent(freeCurrent),
+        stallCurrent(stallCurrent * numMotors),
+        freeCurrent(freeCurrent * numMotors),
         freeSpeed(freeSpeed),
-        R(nominalVoltage / stallCurrent),
-        Kv(freeSpeed / (nominalVoltage - R * freeCurrent)),
-        Kt(stallTorque * numMotors / stallCurrent) {}
+        R(nominalVoltage / this->stallCurrent),
+        Kv(freeSpeed / (nominalVoltage - R * this->freeCurrent)),
+        Kt(this->stallTorque / this->stallCurrent) {}
 
   /**
    * Returns current drawn by motor with given speed and input voltage.

wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/ExtendedKalmanFilterTest.java

@@ -39,10 +39,8 @@ public class ExtendedKalmanFilterTest {
     final var J = 5.6; // Robot moment of inertia
 
     final var C1 =
-        -Math.pow(gr, 2)
-            * motors.m_KtNMPerAmp
-            / (motors.m_KvRadPerSecPerVolt * motors.m_rOhms * r * r);
-    final var C2 = gr * motors.m_KtNMPerAmp / (motors.m_rOhms * r);
+        -Math.pow(gr, 2) * motors.KtNMPerAmp / (motors.KvRadPerSecPerVolt * motors.rOhms * r * r);
+    final var C2 = gr * motors.KtNMPerAmp / (motors.rOhms * r);
     final var k1 = 1.0 / m + rb * rb / J;
     final var k2 = 1.0 / m - rb * rb / J;
 

wpimath/src/test/java/edu/wpi/first/wpilibj/estimator/UnscentedKalmanFilterTest.java

@@ -43,9 +43,9 @@ public class UnscentedKalmanFilterTest {
 
     var C1 =
         -Math.pow(gHigh, 2)
-            * motors.m_KtNMPerAmp
-            / (motors.m_KvRadPerSecPerVolt * motors.m_rOhms * r * r);
-    var C2 = gHigh * motors.m_KtNMPerAmp / (motors.m_rOhms * r);
+            * motors.KtNMPerAmp
+            / (motors.KvRadPerSecPerVolt * motors.rOhms * r * r);
+    var C2 = gHigh * motors.KtNMPerAmp / (motors.rOhms * r);
 
     var c = x.get(2, 0);
     var s = x.get(3, 0);