more review items

source/docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst

@@ -46,7 +46,7 @@ The ``MecanumDriveKinematics`` class accepts four constructor arguments, with ea
       backRightLocation = Translation2d(-0.381, -0.381)
 
       # Creating my kinematics object using the wheel locations.
-      kinematics = MecanumDriveKinematics(
+      self.kinematics = MecanumDriveKinematics(
         frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
       )
 
@@ -94,7 +94,7 @@ The ``toWheelSpeeds(ChassisSpeeds speeds)`` (Java / Python) / ``ToWheelSpeeds(Ch
       speeds = ChassisSpeeds(1.0, 3.0, 1.5)
 
       # Convert to wheel speeds
-      frontLeft, frontRight, backLeft, backRight = kinematics.toWheelSpeeds(speeds)
+      frontLeft, frontRight, backLeft, backRight = self.kinematics.toWheelSpeeds(speeds)
 
 Field-oriented drive
 ~~~~~~~~~~~~~~~~~~~~
@@ -143,7 +143,7 @@ Field-oriented drive
         2.0, 2.0, math.pi / 2.0, Rotation2d.fromDegrees(45.0))
 
       # Now use this in our kinematics
-      wheelSpeeds = kinematics.toWheelSpeeds(speeds)
+      wheelSpeeds = self.kinematics.toWheelSpeeds(speeds)
 
 Using custom centers of rotation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -190,9 +190,9 @@ One can also use the kinematics object to convert a ``MecanumDriveWheelSpeeds``
       wheelSpeeds = MecanumDriveWheelSpeeds(-17.67, 20.51, -13.44, 16.26)
 
       # Convert to chassis speeds
-      chassisSpeeds = kinematics.toChassisSpeeds(wheelSpeeds)
+      chassisSpeeds = self.kinematics.toChassisSpeeds(wheelSpeeds)
 
       # Getting individual speeds
-      double forward = chassisSpeeds.vx
-      double sideways = chassisSpeeds.vy
-      double angular = chassisSpeeds.omega
+      forward = chassisSpeeds.vx
+      sideways = chassisSpeeds.vy
+      angular = chassisSpeeds.omega

source/docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst

@@ -90,19 +90,19 @@ The fourth optional argument is the starting pose of your robot on the field (as
       backRightLocation = Translation2d(-0.381, -0.381)
 
       # Creating my kinematics object using the wheel locations.
-      kinematics = MecanumDriveKinematics(
+      self.kinematics = MecanumDriveKinematics(
         frontLeftLocation, frontRightLocation, backLeftLocation, backRightLocation
       )
 
       # Creating my odometry object from the kinematics object and the initial wheel positions.
       # Here, our starting pose is 5 meters along the long end of the field and in the
       # center of the field along the short end, facing the opposing alliance wall.
-      odometry = MecanumDriveOdometry(
-        kinematics,
-        gyro.getRotation2d(),
+      self.odometry = MecanumDriveOdometry(
+        self.kinematics,
+        self.gyro.getRotation2d(),
         MecanumDriveWheelPositions(
-          frontLeftEncoder.getDistance(), frontRightEncoder.getDistance(),
-          backLeftEncoder.getDistance(), backRightEncoder.getDistance()
+          self.frontLeftEncoder.getDistance(), self.frontRightEncoder.getDistance(),
+          self.backLeftEncoder.getDistance(), self.backRightEncoder.getDistance()
         ),
         Pose2d(5.0, 13.5, Rotation2d())
       )
@@ -153,8 +153,8 @@ The ``update`` method of the odometry class updates the robot position on the fi
       def periodic(self):
         # Get my wheel positions
         wheelPositions = MecanumDriveWheelPositions(
-          frontLeftEncoder.getDistance(), frontRightEncoder.getDistance(),
-          backLeftEncoder.getDistance(), backRightEncoder.getDistance())
+          self.frontLeftEncoder.getDistance(), self.frontRightEncoder.getDistance(),
+          self.backLeftEncoder.getDistance(), self.backRightEncoder.getDistance())
 
         # Get the rotation of the robot from the gyro.
         gyroAngle = gyro.getRotation2d()