[wpimath] Remove unit suffixes from variable names

* Move units into API docs instead because suffixes make user code verbose and hard to read
* Rename trackWidth to trackwidth
* Make ultrasonic classes use meters instead of a mix of m, cm, mm, ft,
  and inches

cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java

@@ -1025,10 +1025,10 @@ public interface LoggerFunction {
   /**
    * Runs main run loop with timeout.
    *
-   * @param timeoutSeconds Timeout in seconds.
+   * @param timeout Timeout in seconds.
    * @return 3 on timeout, 2 on signal, 1 on other.
    */
-  public static native int runMainRunLoopTimeout(double timeoutSeconds);
+  public static native int runMainRunLoopTimeout(double timeout);
 
   /** Stops main run loop. */
   public static native void stopMainRunLoop();

hal/src/main/java/edu/wpi/first/hal/DMAJNI.java

@@ -47,10 +47,10 @@ public class DMAJNI extends JNIWrapper {
    * <p>This can only be called if DMA is not started.
    *
    * @param handle the dma handle
-   * @param periodSeconds the period to trigger in seconds
+   * @param period the period to trigger in seconds
    * @see "HAL_SetDMATimedTrigger"
    */
-  public static native void setTimedTrigger(int handle, double periodSeconds);
+  public static native void setTimedTrigger(int handle, double period);
 
   /**
    * Sets DMA transfers to occur at a specific timed interval in FPGA cycles.
@@ -229,14 +229,13 @@ public static native int setExternalTrigger(
    * Reads a DMA sample from the queue.
    *
    * @param handle the dma handle
-   * @param timeoutSeconds the time to wait for data to be queued before timing out
+   * @param timeout the time in seconds to wait for data to be queued before timing out
    * @param buffer the sample object to place data into
    * @param sampleStore index 0-21 channelOffsets, index 22: capture size, index 23: triggerChannels
    *     (bitflags), index 24: remaining, index 25: read status
    * @return timestamp of the DMA Sample
    */
-  public static native long readDMA(
-      int handle, double timeoutSeconds, int[] buffer, int[] sampleStore);
+  public static native long readDMA(int handle, double timeout, int[] buffer, int[] sampleStore);
 
   /**
    * Get the sensor DMA sample.

hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java

@@ -29,8 +29,8 @@ static class BaseStore {
   /** Default constructor. */
   public DMAJNISample() {}
 
-  public int update(int dmaHandle, double timeoutSeconds) {
-    m_timeStamp = DMAJNI.readDMA(dmaHandle, timeoutSeconds, m_dataBuffer, m_storage);
+  public int update(int dmaHandle, double timeout) {
+    m_timeStamp = DMAJNI.readDMA(dmaHandle, timeout, m_dataBuffer, m_storage);
     return m_storage[25];
   }
 

sysid/src/main/native/include/sysid/analysis/TrackWidthAnalysis.h → sysid/src/main/native/include/sysid/analysis/TrackwidthAnalysis.h

@@ -10,14 +10,14 @@
 namespace sysid {
 
 /**
- * Calculates the track width given the left distance, right distance, and
+ * Calculates the trackwidth given the left distance, right distance, and
  * accumulated gyro angle.
  *
  * @param l     The distance traveled by the left side of the drivetrain.
  * @param r     The distance traveled by the right side of the drivetrain.
  * @param accum The accumulated gyro angle.
  */
-constexpr double CalculateTrackWidth(double l, double r,
+constexpr double CalculateTrackwidth(double l, double r,
                                      units::radian_t accum) {
   // The below comes from solving ω = (vr − vl) / 2r for 2r.
   return (gcem::abs(r) + gcem::abs(l)) / gcem::abs(accum.value());

sysid/src/test/native/cpp/analysis/TrackWidthAnalysisTest.cpp → sysid/src/test/native/cpp/analysis/TrackwidthAnalysisTest.cpp

@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "sysid/analysis/TrackWidthAnalysis.h"
+#include "sysid/analysis/TrackwidthAnalysis.h"
 
-TEST(TrackWidthAnalysisTest, Calculate) {
-  double result = sysid::CalculateTrackWidth(-0.5386, 0.5386, 90_deg);
+TEST(TrackwidthAnalysisTest, Calculate) {
+  double result = sysid::CalculateTrackwidth(-0.5386, 0.5386, 90_deg);
   EXPECT_NEAR(result, 0.6858, 1E-4);
 }

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java

@@ -47,7 +47,7 @@ public class MecanumControllerCommand extends Command {
   private final MecanumDriveKinematics m_kinematics;
   private final HolonomicDriveController m_controller;
   private final Supplier<Rotation2d> m_desiredRotation;
-  private final double m_maxWheelVelocityMetersPerSecond;
+  private final double m_maxWheelVelocity;
   private final PIDController m_frontLeftController;
   private final PIDController m_rearLeftController;
   private final PIDController m_frontRightController;
@@ -78,7 +78,7 @@ public class MecanumControllerCommand extends Command {
    * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
    * @param desiredRotation The angle that the robot should be facing. This is sampled at each time
    *     step.
-   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param maxWheelVelocity The maximum velocity of a drivetrain wheel in m/s.
    * @param frontLeftController The front left wheel velocity PID.
    * @param rearLeftController The rear left wheel velocity PID.
    * @param frontRightController The front right wheel velocity PID.
@@ -98,7 +98,7 @@ public MecanumControllerCommand(
       PIDController yController,
       ProfiledPIDController thetaController,
       Supplier<Rotation2d> desiredRotation,
-      double maxWheelVelocityMetersPerSecond,
+      double maxWheelVelocity,
       PIDController frontLeftController,
       PIDController rearLeftController,
       PIDController frontRightController,
@@ -120,7 +120,7 @@ public MecanumControllerCommand(
     m_desiredRotation =
         requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
 
-    m_maxWheelVelocityMetersPerSecond = maxWheelVelocityMetersPerSecond;
+    m_maxWheelVelocity = maxWheelVelocity;
 
     m_frontLeftController =
         requireNonNullParam(frontLeftController, "frontLeftController", "MecanumControllerCommand");
@@ -166,7 +166,7 @@ public MecanumControllerCommand(
    * @param xController The Trajectory Tracker PID controller for the robot's x position.
    * @param yController The Trajectory Tracker PID controller for the robot's y position.
    * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
-   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param maxWheelVelocity The maximum velocity of a drivetrain wheel in m/s.
    * @param frontLeftController The front left wheel velocity PID.
    * @param rearLeftController The rear left wheel velocity PID.
    * @param frontRightController The front right wheel velocity PID.
@@ -184,7 +184,7 @@ public MecanumControllerCommand(
       PIDController xController,
       PIDController yController,
       ProfiledPIDController thetaController,
-      double maxWheelVelocityMetersPerSecond,
+      double maxWheelVelocity,
       PIDController frontLeftController,
       PIDController rearLeftController,
       PIDController frontRightController,
@@ -200,9 +200,8 @@ public MecanumControllerCommand(
         xController,
         yController,
         thetaController,
-        () ->
-            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
-        maxWheelVelocityMetersPerSecond,
+        () -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
+        maxWheelVelocity,
         frontLeftController,
         rearLeftController,
         frontRightController,
@@ -228,7 +227,7 @@ public MecanumControllerCommand(
    * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
    * @param desiredRotation The angle that the robot should be facing. This is sampled at each time
    *     step.
-   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param maxWheelVelocity The maximum velocity of a drivetrain wheel in m/s.
    * @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
    * @param requirements The subsystems to require.
    */
@@ -241,7 +240,7 @@ public MecanumControllerCommand(
       PIDController yController,
       ProfiledPIDController thetaController,
       Supplier<Rotation2d> desiredRotation,
-      double maxWheelVelocityMetersPerSecond,
+      double maxWheelVelocity,
       Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
       Subsystem... requirements) {
     m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
@@ -258,7 +257,7 @@ public MecanumControllerCommand(
     m_desiredRotation =
         requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
 
-    m_maxWheelVelocityMetersPerSecond = maxWheelVelocityMetersPerSecond;
+    m_maxWheelVelocity = maxWheelVelocity;
 
     m_frontLeftController = null;
     m_rearLeftController = null;
@@ -296,7 +295,7 @@ public MecanumControllerCommand(
    * @param xController The Trajectory Tracker PID controller for the robot's x position.
    * @param yController The Trajectory Tracker PID controller for the robot's y position.
    * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
-   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
    * @param outputWheelSpeeds A MecanumDriveWheelSpeeds object containing the output wheel speeds.
    * @param requirements The subsystems to require.
    */
@@ -307,7 +306,7 @@ public MecanumControllerCommand(
       PIDController xController,
       PIDController yController,
       ProfiledPIDController thetaController,
-      double maxWheelVelocityMetersPerSecond,
+      double maxWheelVelocity,
       Consumer<MecanumDriveWheelSpeeds> outputWheelSpeeds,
       Subsystem... requirements) {
     this(
@@ -317,9 +316,8 @@ public MecanumControllerCommand(
         xController,
         yController,
         thetaController,
-        () ->
-            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
-        maxWheelVelocityMetersPerSecond,
+        () -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
+        maxWheelVelocity,
         outputWheelSpeeds,
         requirements);
   }
@@ -328,18 +326,16 @@ public MecanumControllerCommand(
   public void initialize() {
     var initialState = m_trajectory.sample(0);
 
-    var initialXVelocity =
-        initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getCos();
-    var initialYVelocity =
-        initialState.velocityMetersPerSecond * initialState.poseMeters.getRotation().getSin();
+    var initialXVelocity = initialState.velocity * initialState.pose.getRotation().getCos();
+    var initialYVelocity = initialState.velocity * initialState.pose.getRotation().getSin();
 
     MecanumDriveWheelSpeeds prevSpeeds =
         m_kinematics.toWheelSpeeds(new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
 
-    m_prevFrontLeftSpeedSetpoint = prevSpeeds.frontLeftMetersPerSecond;
-    m_prevRearLeftSpeedSetpoint = prevSpeeds.rearLeftMetersPerSecond;
-    m_prevFrontRightSpeedSetpoint = prevSpeeds.frontRightMetersPerSecond;
-    m_prevRearRightSpeedSetpoint = prevSpeeds.rearRightMetersPerSecond;
+    m_prevFrontLeftSpeedSetpoint = prevSpeeds.frontLeft;
+    m_prevRearLeftSpeedSetpoint = prevSpeeds.rearLeft;
+    m_prevFrontRightSpeedSetpoint = prevSpeeds.frontRight;
+    m_prevRearRightSpeedSetpoint = prevSpeeds.rearRight;
 
     m_timer.restart();
   }
@@ -354,12 +350,12 @@ public void execute() {
         m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
     var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
 
-    targetWheelSpeeds.desaturate(m_maxWheelVelocityMetersPerSecond);
+    targetWheelSpeeds.desaturate(m_maxWheelVelocity);
 
-    double frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
-    double rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;
-    double frontRightSpeedSetpoint = targetWheelSpeeds.frontRightMetersPerSecond;
-    double rearRightSpeedSetpoint = targetWheelSpeeds.rearRightMetersPerSecond;
+    double frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeft;
+    double rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeft;
+    double frontRightSpeedSetpoint = targetWheelSpeeds.frontRight;
+    double rearRightSpeedSetpoint = targetWheelSpeeds.rearRight;
 
     double frontLeftOutput;
     double rearLeftOutput;
@@ -382,22 +378,22 @@ public void execute() {
       frontLeftOutput =
           frontLeftFeedforward
               + m_frontLeftController.calculate(
-                  m_currentWheelSpeeds.get().frontLeftMetersPerSecond, frontLeftSpeedSetpoint);
+                  m_currentWheelSpeeds.get().frontLeft, frontLeftSpeedSetpoint);
 
       rearLeftOutput =
           rearLeftFeedforward
               + m_rearLeftController.calculate(
-                  m_currentWheelSpeeds.get().rearLeftMetersPerSecond, rearLeftSpeedSetpoint);
+                  m_currentWheelSpeeds.get().rearLeft, rearLeftSpeedSetpoint);
 
       frontRightOutput =
           frontRightFeedforward
               + m_frontRightController.calculate(
-                  m_currentWheelSpeeds.get().frontRightMetersPerSecond, frontRightSpeedSetpoint);
+                  m_currentWheelSpeeds.get().frontRight, frontRightSpeedSetpoint);
 
       rearRightOutput =
           rearRightFeedforward
               + m_rearRightController.calculate(
-                  m_currentWheelSpeeds.get().rearRightMetersPerSecond, rearRightSpeedSetpoint);
+                  m_currentWheelSpeeds.get().rearRight, rearRightSpeedSetpoint);
 
       m_outputDriveVoltages.accept(
           new MecanumDriveMotorVoltages(
@@ -420,6 +416,6 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
+    return m_timer.hasElapsed(m_trajectory.getTotalTime());
   }
 }

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java

@@ -123,8 +123,7 @@ public SwerveControllerCommand(
         xController,
         yController,
         thetaController,
-        () ->
-            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        () -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
         outputModuleStates,
         requirements);
   }
@@ -162,8 +161,7 @@ public SwerveControllerCommand(
         pose,
         kinematics,
         controller,
-        () ->
-            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        () -> trajectory.getStates().get(trajectory.getStates().size() - 1).pose.getRotation(),
         outputModuleStates,
         requirements);
   }
@@ -233,6 +231,6 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
+    return m_timer.hasElapsed(m_trajectory.getTotalTime());
   }
 }

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java

@@ -60,24 +60,24 @@ void cleanupAll() {
   private static final double kAngularTolerance = 1 / 12.0;
 
   private static final double kWheelBase = 0.5;
-  private static final double kTrackWidth = 0.5;
+  private static final double kTrackwidth = 0.5;
 
   private final MecanumDriveKinematics m_kinematics =
       new MecanumDriveKinematics(
-          new Translation2d(kWheelBase / 2, kTrackWidth / 2),
-          new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
-          new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
-          new Translation2d(-kWheelBase / 2, -kTrackWidth / 2));
+          new Translation2d(kWheelBase / 2, kTrackwidth / 2),
+          new Translation2d(kWheelBase / 2, -kTrackwidth / 2),
+          new Translation2d(-kWheelBase / 2, kTrackwidth / 2),
+          new Translation2d(-kWheelBase / 2, -kTrackwidth / 2));
 
   private final MecanumDriveOdometry m_odometry =
       new MecanumDriveOdometry(
           m_kinematics, Rotation2d.kZero, new MecanumDriveWheelPositions(), Pose2d.kZero);
 
   public void setWheelSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
-    this.m_frontLeftSpeed = wheelSpeeds.frontLeftMetersPerSecond;
-    this.m_rearLeftSpeed = wheelSpeeds.rearLeftMetersPerSecond;
-    this.m_frontRightSpeed = wheelSpeeds.frontRightMetersPerSecond;
-    this.m_rearRightSpeed = wheelSpeeds.rearRightMetersPerSecond;
+    this.m_frontLeftSpeed = wheelSpeeds.frontLeft;
+    this.m_rearLeftSpeed = wheelSpeeds.rearLeft;
+    this.m_frontRightSpeed = wheelSpeeds.frontRight;
+    this.m_rearRightSpeed = wheelSpeeds.rearRight;
   }
 
   public MecanumDriveWheelPositions getCurrentWheelDistances() {
@@ -87,7 +87,7 @@ public MecanumDriveWheelPositions getCurrentWheelDistances() {
 
   public Pose2d getRobotPose() {
     m_odometry.update(m_angle, getCurrentWheelDistances());
-    return m_odometry.getPoseMeters();
+    return m_odometry.getPose();
   }
 
   @Test
@@ -101,7 +101,7 @@ void testReachesReference() {
     var config = new TrajectoryConfig(8.8, 0.1);
     final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
 
-    final var endState = trajectory.sample(trajectory.getTotalTimeSeconds());
+    final var endState = trajectory.sample(trajectory.getTotalTime());
 
     final var command =
         new MecanumControllerCommand(
@@ -120,7 +120,7 @@ void testReachesReference() {
     command.initialize();
     while (!command.isFinished()) {
       command.execute();
-      m_angle = trajectory.sample(m_timer.get()).poseMeters.getRotation();
+      m_angle = trajectory.sample(m_timer.get()).pose.getRotation();
       m_frontLeftDistance += m_frontLeftSpeed * 0.005;
       m_rearLeftDistance += m_rearLeftSpeed * 0.005;
       m_frontRightDistance += m_frontRightSpeed * 0.005;
@@ -131,11 +131,11 @@ void testReachesReference() {
     command.end(true);
 
     assertAll(
-        () -> assertEquals(endState.poseMeters.getX(), getRobotPose().getX(), kxTolerance),
-        () -> assertEquals(endState.poseMeters.getY(), getRobotPose().getY(), kyTolerance),
+        () -> assertEquals(endState.pose.getX(), getRobotPose().getX(), kxTolerance),
+        () -> assertEquals(endState.pose.getY(), getRobotPose().getY(), kyTolerance),
         () ->
             assertEquals(
-                endState.poseMeters.getRotation().getRadians(),
+                endState.pose.getRotation().getRadians(),
                 getRobotPose().getRotation().getRadians(),
                 kAngularTolerance));
   }