Switch to k-prefix naming convention for constants

Author: fletch3555

digital-communication/robot.py

@@ -9,18 +9,18 @@
 
 class MyRobot(wpilib.TimedRobot):
     # define ports for digitalcommunication with light controller
-    ALLIANCE_PORT = 0
-    ENABLED_PORT = 1
-    AUTONOMOUS_PORT = 2
-    ALERT_PORT = 3
+    kAlliancePort = 0
+    kEnabledPort = 1
+    kAutonomousPort = 2
+    kAlertPort = 3
 
     def robotInit(self):
         """Robot initialization function"""
 
-        self.allianceOutput = wpilib.DigitalOutput(self.ALLIANCE_PORT)
-        self.enabledOutput = wpilib.DigitalOutput(self.ENABLED_PORT)
-        self.autonomousOutput = wpilib.DigitalOutput(self.AUTONOMOUS_PORT)
-        self.alertOutput = wpilib.DigitalOutput(self.ALERT_PORT)
+        self.allianceOutput = wpilib.DigitalOutput(self.kAlliancePort)
+        self.enabledOutput = wpilib.DigitalOutput(self.kEnabledPort)
+        self.autonomousOutput = wpilib.DigitalOutput(self.kAutonomousPort)
+        self.alertOutput = wpilib.DigitalOutput(self.kAlertPort)
 
     def robotPeriodic(self):
         setAlliance = False

flywheel-bangbang-controller/robot.py

@@ -14,24 +14,24 @@
 
 
 class MyRobot(wpilib.TimedRobot):
-    MOTOR_PORT = 0
-    ENCODER_A_CHANNEL = 0
-    ENCODER_B_CHANNEL = 1
+    kMotorPort = 0
+    kEncoderAChannel = 0
+    kEncoderBChannel = 1
 
     # Max setpoint for joystick control in RPM
-    MAX_SETPOINT_VALUE = 6000.0
+    kMaxSetpointValue = 6000.0
 
     # Gains are for example purposes only - must be determined for your own robot!
-    FLYWHEEL_KS = 0.0001  # V
-    FLYWHEEL_KV = 0.000195  # V/RPM
-    FLYWHEEL_KA = 0.0003  # V/(RPM/s)
+    kFlywheelKs = 0.0001  # V
+    kFlywheelKv = 0.000195  # V/RPM
+    kFlywheelKa = 0.0003  # V/(RPM/s)
 
     # Reduction between motors and encoder, as output over input. If the flywheel
     # spins slower than the motors, this number should be greater than one.
-    FLYWHEEL_GEARING = 1.0
+    kFlywheelGearing = 1.0
 
     # 1/2 MR²
-    FLYWHEEL_MOMENT_OF_INERTIA = (
+    kFlywheelMomentOfInertia = (
         0.5
         * wpimath.units.lbsToKilograms(1.5)
         * math.pow(wpimath.units.inchesToMeters(4), 2)
@@ -41,20 +41,20 @@ def robotInit(self):
         """Robot initialization function"""
 
         self.feedforward = wpimath.controller.SimpleMotorFeedforwardMeters(
-            self.FLYWHEEL_KS, self.FLYWHEEL_KV, self.FLYWHEEL_KA
+            self.kFlywheelKs, self.kFlywheelKv, self.kFlywheelKa
         )
 
         # Joystick to control setpoint
         self.joystick = wpilib.Joystick(0)
 
-        self.flywheelMotor = wpilib.PWMSparkMax(self.MOTOR_PORT)
-        self.encoder = wpilib.Encoder(self.ENCODER_A_CHANNEL, self.ENCODER_B_CHANNEL)
+        self.flywheelMotor = wpilib.PWMSparkMax(self.kMotorPort)
+        self.encoder = wpilib.Encoder(self.kEncoderAChannel, self.kEncoderBChannel)
 
         self.bangBangControler = wpimath.controller.BangBangController()
 
         # Simulation classes help us simulate our robot
         self.flywheelSim = wpilib.simulation.FlywheelSim(
-            DCMotor.NEO(1), self.FLYWHEEL_GEARING, self.FLYWHEEL_MOMENT_OF_INERTIA
+            DCMotor.NEO(1), self.kFlywheelGearing, self.kFlywheelMomentOfInertia
         )
         self.encoderSim = wpilib.simulation.EncoderSim(self.encoder)
 
@@ -69,7 +69,7 @@ def teleopPeriodic(self):
             0.0,
             self.joystick.getRawAxis(0)
             * wpimath.units.rotationsPerMinuteToRadiansPerSecond(
-                self.MAX_SETPOINT_VALUE
+                self.kMaxSetpointValue
             ),
         )
 

gyro-mecanum/robot.py

@@ -11,25 +11,25 @@
 class MyRobot(wpilib.TimedRobot):
     # gyro calibration constant, may need to be adjusted;
     # gyro value of 360 is set to correspond to one full revolution
-    VOLTS_PER_DEGREE_PER_SECOND = 0.0128
+    kVoltsPerDegreePerSecond = 0.0128
 
-    FRONT_LEFT_CHANNEL = 0
-    REAR_LEFT_CHANNEL = 1
-    FRONT_RIGHT_CHANNEL = 2
-    REAR_RIGHT_CHANNEL = 3
-    GYRO_PORT = 0
-    JOYSTICK_PORT = 0
+    kFrontLeftChannel = 0
+    kRearLeftChannel = 1
+    kFrontRightChannel = 2
+    kRearRightChannel = 3
+    kGyroPort = 0
+    kJoystickPort = 0
 
     def robotInit(self):
         """Robot initialization function"""
 
-        self.gyro = wpilib.AnalogGyro(self.GYRO_PORT)
-        self.joystick = wpilib.Joystick(self.JOYSTICK_PORT)
+        self.gyro = wpilib.AnalogGyro(self.kGyroPort)
+        self.joystick = wpilib.Joystick(self.kJoystickPort)
 
-        frontLeft = wpilib.PWMSparkMax(self.FRONT_LEFT_CHANNEL)
-        rearLeft = wpilib.PWMSparkMax(self.REAR_LEFT_CHANNEL)
-        frontRight = wpilib.PWMSparkMax(self.FRONT_RIGHT_CHANNEL)
-        rearRight = wpilib.PWMSparkMax(self.REAR_RIGHT_CHANNEL)
+        frontLeft = wpilib.PWMSparkMax(self.kFrontLeftChannel)
+        rearLeft = wpilib.PWMSparkMax(self.kRearLeftChannel)
+        frontRight = wpilib.PWMSparkMax(self.kFrontRightChannel)
+        rearRight = wpilib.PWMSparkMax(self.kRearRightChannel)
 
         frontRight.setInverted(True)
         rearRight.setInverted(True)
@@ -38,7 +38,7 @@ def robotInit(self):
             frontLeft, rearLeft, frontRight, rearRight
         )
 
-        self.gyro.setSensitivity(self.VOLTS_PER_DEGREE_PER_SECOND)
+        self.gyro.setSensitivity(self.kVoltsPerDegreePerSecond)
 
     def teleopPeriodic(self):
         self.robotDrive.driveCartesian(

gyro/robot.py

@@ -16,28 +16,28 @@ class MyRobot(wpilib.TimedRobot):
     keeping.
     """
 
-    ANGLE_SETPOINT = 0.0
-    P = 0.005  # propotional turning constant
+    kAngleSetpoint = 0.0
+    kP = 0.005  # propotional turning constant
 
     # gyro calibration constant, may need to be adjusted;
     # gyro value of 360 is set to correspond to one full revolution
-    VOLTS_PER_DEGREE_PER_SECOND = 0.0128
+    kVoltsPerDegreePerSecond = 0.0128
 
-    LEFT_MOTOR_PORT = 0
-    RIGHT_MOTOR_PORT = 1
-    GYRO_PORT = 0
-    JOYSTICK_PORT = 0
+    kLeftMotorPort = 0
+    kRightMotorPort = 1
+    kGyroPort = 0
+    kJoystickPort = 0
 
     def robotInit(self):
         """Robot initialization function"""
 
-        self.leftDrive = wpilib.PWMSparkMax(self.LEFT_MOTOR_PORT)
-        self.rightDrive = wpilib.PWMSparkMax(self.RIGHT_MOTOR_PORT)
+        self.leftDrive = wpilib.PWMSparkMax(self.kLeftMotorPort)
+        self.rightDrive = wpilib.PWMSparkMax(self.kRightMotorPort)
         self.myRobot = wpilib.drive.DifferentialDrive(self.leftDrive, self.rightDrive)
-        self.gyro = wpilib.AnalogGyro(self.GYRO_PORT)
-        self.joystick = wpilib.Joystick(self.JOYSTICK_PORT)
+        self.gyro = wpilib.AnalogGyro(self.kGyroPort)
+        self.joystick = wpilib.Joystick(self.kJoystickPort)
 
-        self.gyro.setSensitivity(self.VOLTS_PER_DEGREE_PER_SECOND)
+        self.gyro.setSensitivity(self.kVoltsPerDegreePerSecond)
 
         # We need to invert one side of the drivetrain so that positive voltages
         # result in both sides moving forward. Depending on how your robot's
@@ -47,7 +47,7 @@ def robotInit(self):
     def teleopPeriodic(self):
         # The motor speed is set from the joystick while the DifferentialDrive turning value is assigned
         # from the error between the setpoint and the gyro angle.
-        turningValue = (self.ANGLE_SETPOINT - self.gyro.getAngle()) * self.P
+        turningValue = (self.kAngleSetpoint - self.gyro.getAngle()) * self.kP
         self.myRobot.arcadeDrive(-self.joystick.getY(), -turningValue)
 
 

motor-control/robot.py

@@ -22,17 +22,17 @@ class MyRobot(wpilib.TimedRobot):
     to the Dashboard.
     """
 
-    MOTOR_PORT = 0
-    JOYSTICK_PORT = 0
-    ENCODER_PORT_A = 0
-    ENCODER_PORT_B = 1
+    kMotorPort = 0
+    kJoystickPort = 0
+    kEncoderPortA = 0
+    kEncoderPortB = 1
 
     def robotInit(self):
         """Robot initialization function"""
 
-        self.motor = wpilib.PWMSparkMax(self.MOTOR_PORT)
-        self.joystick = wpilib.Joystick(self.JOYSTICK_PORT)
-        self.encoder = wpilib.Encoder(self.ENCODER_PORT_A, self.ENCODER_PORT_B)
+        self.motor = wpilib.PWMSparkMax(self.kMotorPort)
+        self.joystick = wpilib.Joystick(self.kJoystickPort)
+        self.encoder = wpilib.Encoder(self.kEncoderPortA, self.kEncoderPortB)
         # Use SetDistancePerPulse to set the multiplier for GetDistance
         # This is set up assuming a 6 inch wheel with a 360 CPR encoder.
         self.encoder.setDistancePerPulse((math.pi * 6) / 360.0)