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Cleaned up integer type usage in wpilibc (#92)

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Replaced all unsigned types to signed and int32_t with int in wpilibc
This commit is contained in:
Tyler Veness
2016-09-06 00:01:45 -07:00
committed by Peter Johnson
parent ff93050b31
commit 0cd05d1a42
169 changed files with 914 additions and 943 deletions
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58
wpilibc/athena/include/CANJaguar.h
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@@ -22,7 +22,6 @@
#include "MotorSafety.h"
#include "MotorSafetyHelper.h"
#include "PIDOutput.h"
#include "Resource.h"
#include "tables/ITableListener.h"
/**
@@ -35,7 +34,7 @@ class CANJaguar : public MotorSafety,
public ITableListener {
public:
// The internal PID control loop in the Jaguar runs at 1kHz.
static const int32_t kControllerRate = 1000;
static const int kControllerRate = 1000;
static constexpr double kApproxBusVoltage = 12.0;
// Control mode tags
@@ -52,11 +51,11 @@ class CANJaguar : public MotorSafety,
static const struct PotentiometerStruct {
} Potentiometer;
explicit CANJaguar(uint8_t deviceNumber);
explicit CANJaguar(int deviceNumber);
virtual ~CANJaguar();
uint8_t getDeviceNumber() const;
uint8_t GetHardwareVersion() const;
int getDeviceNumber() const;
int GetHardwareVersion() const;
// PIDOutput interface
void PIDWrite(float output) override;
@@ -91,7 +90,7 @@ class CANJaguar : public MotorSafety,
void SetVoltageMode(QuadEncoderStruct, uint16_t codesPerRev);
void SetVoltageMode(PotentiometerStruct);
void Set(float value, uint8_t syncGroup);
void Set(float value, int syncGroup);
// CANSpeedController interface
float Get() const override;
@@ -115,7 +114,7 @@ class CANJaguar : public MotorSafety,
bool GetReverseLimitOK() const override;
uint16_t GetFaults() const override;
void SetVoltageRampRate(double rampRate) override;
uint32_t GetFirmwareVersion() const override;
int GetFirmwareVersion() const override;
void ConfigNeutralMode(NeutralMode mode) override;
void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
void ConfigPotentiometerTurns(uint16_t turns) override;
@@ -139,7 +138,7 @@ class CANJaguar : public MotorSafety,
bool IsSafetyEnabled() const override;
void SetSafetyEnabled(bool enabled) override;
void GetDescription(std::ostringstream& desc) const override;
uint8_t GetDeviceID() const;
int GetDeviceID() const;
// SpeedController overrides
void SetInverted(bool isInverted) override;
@@ -147,28 +146,27 @@ class CANJaguar : public MotorSafety,
protected:
// Control mode helpers
void SetSpeedReference(uint8_t reference);
uint8_t GetSpeedReference() const;
void SetSpeedReference(int reference);
int GetSpeedReference() const;
void SetPositionReference(uint8_t reference);
uint8_t GetPositionReference() const;
void SetPositionReference(int reference);
int GetPositionReference() const;
uint8_t packPercentage(uint8_t* buffer, double value);
uint8_t packFXP8_8(uint8_t* buffer, double value);
uint8_t packFXP16_16(uint8_t* buffer, double value);
uint8_t packint16_t(uint8_t* buffer, int16_t value);
uint8_t packint32_t(uint8_t* buffer, int32_t value);
int packPercentage(uint8_t* buffer, double value);
int packFXP8_8(uint8_t* buffer, double value);
int packFXP16_16(uint8_t* buffer, double value);
int packInt16(uint8_t* buffer, int16_t value);
int packInt32(uint8_t* buffer, int32_t value);
double unpackPercentage(uint8_t* buffer) const;
double unpackFXP8_8(uint8_t* buffer) const;
double unpackFXP16_16(uint8_t* buffer) const;
int16_t unpackint16_t(uint8_t* buffer) const;
int32_t unpackint32_t(uint8_t* buffer) const;
int16_t unpackInt16(uint8_t* buffer) const;
int32_t unpackInt32(uint8_t* buffer) const;
void sendMessage(uint32_t messageID, const uint8_t* data, uint8_t dataSize,
int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
void requestMessage(uint32_t messageID,
int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
bool getMessage(uint32_t messageID, uint32_t mask, uint8_t* data,
void sendMessage(int messageID, const uint8_t* data, uint8_t dataSize,
int period = CAN_SEND_PERIOD_NO_REPEAT);
void requestMessage(int messageID, int period = CAN_SEND_PERIOD_NO_REPEAT);
bool getMessage(int messageID, uint32_t mask, uint8_t* data,
uint8_t* dataSize) const;
void setupPeriodicStatus();
@@ -176,13 +174,13 @@ class CANJaguar : public MotorSafety,
mutable priority_recursive_mutex m_mutex;
uint8_t m_deviceNumber;
int m_deviceNumber;
float m_value = 0.0f;
// Parameters/configuration
ControlMode m_controlMode = kPercentVbus;
uint8_t m_speedReference = LM_REF_NONE;
uint8_t m_positionReference = LM_REF_NONE;
int m_speedReference = LM_REF_NONE;
int m_positionReference = LM_REF_NONE;
double m_p = 0.0;
double m_i = 0.0;
double m_d = 0.0;
@@ -221,10 +219,10 @@ class CANJaguar : public MotorSafety,
mutable float m_temperature = 0.0f;
mutable double m_position = 0.0;
mutable double m_speed = 0.0;
mutable uint8_t m_limits = 0x00;
mutable int m_limits = 0x00;
mutable uint16_t m_faults = 0x0000;
uint32_t m_firmwareVersion = 0;
uint8_t m_hardwareVersion = 0;
int m_firmwareVersion = 0;
int m_hardwareVersion = 0;
// Which periodic status messages have we received at least once?
mutable std::atomic<bool> m_receivedStatusMessage0{false};