Method name refactor

Author: ksiegall

SampleCode/sample_drive_methods.py

@@ -37,35 +37,35 @@ def circle():
 # Follow the perimeter of a square with variable sidelength
 def square(sidelength):
     for sides in range(4):
-        drivetrain.go_straight(sidelength)
-        drivetrain.go_turn(90)
+        drivetrain.straight(sidelength)
+        drivetrain.turn(90)
     # Alternatively:
     # polygon(sidelength, 4)
 
 # Follow the perimeter of an arbitrary polygon with variable side length and number of sides
 # Side length in centimeters
 def polygon(side_length, number_of_sides):
     for s in range(number_of_sides):
-        drivetrain.go_straight(side_length)
-        drivetrain.go_turn(360/number_of_sides)
+        drivetrain.straight(side_length)
+        drivetrain.turn(360/number_of_sides)
 
 # A slightly longer example program showing how a robot may follow a simple path
 def test_drive():
     # Drive forward cm
-    drivetrain.go_straight(25, 0.8)
+    drivetrain.straight(25, 0.8)
 
     time.sleep(1)
 
     # turn 90 degrees clockwise
-    drivetrain.go_turn(90,0.8)
+    drivetrain.turn(90,0.8)
 
     time.sleep(1)
 
     # turn 90 degrees counter clockwise by setting speed negative
-    drivetrain.go_turn(90, -0.8)
+    drivetrain.turn(90, -0.8)
 
     time.sleep(1)
 
     # drive backwards 25 cm by setting distance negative.
     # There is no difference between setting speed or distance negative, both work
-    drivetrain.go_straight(-25,0.8)
+    drivetrain.straight(-25,0.8)

SampleCode/sample_sensor_access.py

@@ -50,7 +50,7 @@ def line_track():
     base_effort = 0.6
     KP = 0.6
     while True:
-        error = reflectance.get_left_reflectance() - reflectance.get_right_reflectance()
+        error = reflectance.get_left() - reflectance.get_right()
         print(error)
         drivetrain.set_effort(base_effort - error * KP, base_effort + error * KP)
         time.sleep(0.01)

WPILib/_analog_reflectance.py

@@ -16,7 +16,7 @@ def _get_value(self, sensor: AnalogIn) -> float:
         return sensor.value / MAX_ANALOG_VALUE
 
     # Implements AbstractReflectance
-    def get_left_reflectance(self) -> float:
+    def get_left(self) -> float:
         """
         Gets the the reflectance of the left reflectance sensor
         :return: The reflectance ranging from 0 (white) to 1 (black)
@@ -25,7 +25,7 @@ def get_left_reflectance(self) -> float:
         return self._get_value(self._leftReflectance)
 
     # Implements AbstractReflectance
-    def get_right_reflectance(self) -> float:
+    def get_right(self) -> float:
         """
         Gets the the reflectance of the right reflectance sensor
         :return: The reflectance ranging from 0 (white) to 1 (black)

WPILib/_drivetrain.py

@@ -74,7 +74,7 @@ def set_legacy_mode(self, is_legacy: bool = True):
 
     # Go forward the specified distance in centimeters, and exit function when distance has been reached.
     # Speed is bounded from -1 (reverse at full speed) to 1 (forward at full speed)
-    def go_straight(self, distance: float, speed: float = 0.5, timeout: float = None) -> bool:
+    def straight(self, distance: float, speed: float = 0.5, timeout: float = None) -> bool:
         """
         Go forward the specified distance in centimeters, and exit function when distance has been reached.
         Speed is bounded from -1 (reverse at full speed) to 1 (forward at full speed)
@@ -124,7 +124,7 @@ def go_straight(self, distance: float, speed: float = 0.5, timeout: float = None
         else:
             return time.time() < startTime+timeout
 
-    def go_turn(self, turn_degrees: float, speed: float = 0.5, timeout: float = None) -> bool:
+    def turn(self, turn_degrees: float, speed: float = 0.5, timeout: float = None) -> bool:
         """
         Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading.
         Speed is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed)

WPILib/_grove_reflectance.py

@@ -12,7 +12,7 @@ def __init__(self, leftPin, rightPin):
         self._rightReflectance = _grove_ultrasonic.GroveUltrasonic(rightPin, timeout = 1)
 
     # Implements AbstractReflectance
-    def get_left_reflectance(self) -> float:
+    def get_left(self) -> float:
         """
         Gets the the reflectance of the left reflectance sensor
         :return: The reflectance ranging from 0 (white) to 1 (black)
@@ -21,7 +21,7 @@ def get_left_reflectance(self) -> float:
         return self._leftReflectance.get_distance()
 
     # Implements AbstractReflectance
-    def get_right_reflectance(self) -> float:
+    def get_right(self) -> float:
         """
         Gets the the reflectance of the right reflectance sensor
         :return: The reflectance ranging from 0 (white) to 1 (black)

WPILib/_reflectance_wrapper.py

@@ -36,21 +36,21 @@ def _possibly_instantiate_object(self):
             self._reflectanceObject = _analog_reflectance.AnalogReflectance(board.GP27, board.GP26)
 
 
-    def get_left_reflectance(self) -> float:
+    def get_left(self) -> float:
         """
         Gets the the reflectance of the left reflectance sensor
         :return: The reflectance ranging from 0 (white) to 1 (black)
         :rtype: float
         """
         self._possibly_instantiate_object()
-        return self._reflectanceObject.get_left_reflectance()
+        return self._reflectanceObject.get_left()
 
 
-    def get_right_reflectance(self) -> float:
+    def get_right(self) -> float:
         """
         Gets the the reflectance of the right reflectance sensor
         :return: The reflectance ranging from 0 (white) to 1 (black)
         :rtype: float
         """
         self._possibly_instantiate_object()
-        return self._reflectanceObject.get_right_reflectance()
+        return self._reflectanceObject.get_right()