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Replace .to<double>() and .template to<double>() with .value() (#3667)

Browse Source 
It's a less verbose way to do the same thing.
This commit is contained in:
Tyler Veness
2021-10-25 08:58:12 -07:00
committed by GitHub
parent 6bc1db44bc
commit 181723e573
134 changed files with 782 additions and 826 deletions
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2
wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
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@@ -16,7 +16,7 @@ ArmSubsystem::ArmSubsystem()
m_motor(kMotorPort),
m_encoder(kEncoderPorts[0], kEncoderPorts[1]),
m_feedforward(kS, kCos, kV, kA) {
m_encoder.SetDistancePerPulse(kEncoderDistancePerPulse.to<double>());
m_encoder.SetDistancePerPulse(kEncoderDistancePerPulse.value());
// Start arm in neutral position
SetGoal(State{kArmOffset, 0_rad_per_s});
}

2
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
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@@ -23,5 +23,5 @@ void ArmSubsystem::UseState(State setpoint) {
m_feedforward.Calculate(setpoint.position, setpoint.velocity);
// Add the feedforward to the PID output to get the motor output
m_motor.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
setpoint.position.to<double>(), feedforward / 12_V);
setpoint.position.value(), feedforward / 12_V);
}

4
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
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@@ -94,7 +94,7 @@ class Robot : public frc::TimedRobot {
// Finally, we set our simulated encoder's readings and simulated battery
// voltage
m_encoderSim.SetDistance(m_armSim.GetAngle().to<double>());
m_encoderSim.SetDistance(m_armSim.GetAngle().value());
// SimBattery estimates loaded battery voltages
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({m_armSim.GetCurrentDraw()}));
@@ -108,7 +108,7 @@ class Robot : public frc::TimedRobot {
// Here, we run PID control like normal, with a constant setpoint of 75
// degrees.
double pidOutput = m_controller.Calculate(
m_encoder.GetDistance(), (units::radian_t(75_deg)).to<double>());
m_encoder.GetDistance(), (units::radian_t(75_deg)).value());
m_motor.SetVoltage(units::volt_t(pidOutput));
} else {
// Otherwise, we disable the motor.

4
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
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@@ -8,9 +8,9 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
const auto leftFeedforward = m_feedforward.Calculate(speeds.left);
const auto rightFeedforward = m_feedforward.Calculate(speeds.right);
const double leftOutput = m_leftPIDController.Calculate(
m_leftEncoder.GetRate(), speeds.left.to<double>());
m_leftEncoder.GetRate(), speeds.left.value());
const double rightOutput = m_rightPIDController.Calculate(
m_rightEncoder.GetRate(), speeds.right.to<double>());
m_rightEncoder.GetRate(), speeds.right.value());
m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);

4
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -12,9 +12,9 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
const auto leftFeedforward = m_feedforward.Calculate(speeds.left);
const auto rightFeedforward = m_feedforward.Calculate(speeds.right);
const double leftOutput = m_leftPIDController.Calculate(
m_leftEncoder.GetRate(), speeds.left.to<double>());
m_leftEncoder.GetRate(), speeds.left.value());
const double rightOutput = m_rightPIDController.Calculate(
m_rightEncoder.GetRate(), speeds.right.to<double>());
m_rightEncoder.GetRate(), speeds.right.value());
m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);

4
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
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@@ -34,9 +34,9 @@ class Drivetrain {
// distance traveled for one rotation of the wheel divided by the encoder
// resolution.
m_leftEncoder.SetDistancePerPulse(
2 * wpi::numbers::pi * kWheelRadius.to<double>() / kEncoderResolution);
2 * wpi::numbers::pi * kWheelRadius.value() / kEncoderResolution);
m_rightEncoder.SetDistancePerPulse(
2 * wpi::numbers::pi * kWheelRadius.to<double>() / kEncoderResolution);
2 * wpi::numbers::pi * kWheelRadius.value() / kEncoderResolution);
m_leftEncoder.Reset();
m_rightEncoder.Reset();

4
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
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@@ -37,10 +37,10 @@ void DriveSubsystem::SetDriveStates(
frc::TrapezoidProfile<units::meters>::State left,
frc::TrapezoidProfile<units::meters>::State right) {
m_leftLeader.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
left.position.to<double>(),
left.position.value(),
m_feedforward.Calculate(left.velocity) / 12_V);
m_rightLeader.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
right.position.to<double>(),
right.position.value(),
m_feedforward.Calculate(right.velocity) / 12_V);
}

2
wpilibcExamples/src/main/cpp/examples/DutyCycleEncoder/cpp/Robot.cpp
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@@ -31,7 +31,7 @@ class Robot : public frc::TimedRobot {
frc::SmartDashboard::PutBoolean("Connected", connected);
frc::SmartDashboard::PutNumber("Frequency", frequency);
frc::SmartDashboard::PutNumber("Output", output.to<double>());
frc::SmartDashboard::PutNumber("Output", output.value());
frc::SmartDashboard::PutNumber("Distance", distance);
}
};

12
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
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@@ -46,7 +46,7 @@ class Robot : public frc::TimedRobot {
// distance per pulse = (distance per revolution) / (pulses per revolution)
// = (Pi * D) / ppr
static constexpr double kArmEncoderDistPerPulse =
2.0 * wpi::numbers::pi * kElevatorDrumRadius.to<double>() / 4096.0;
2.0 * wpi::numbers::pi * kElevatorDrumRadius.value() / 4096.0;
// This gearbox represents a gearbox containing 4 Vex 775pro motors.
frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);
@@ -73,7 +73,7 @@ class Robot : public frc::TimedRobot {
m_mech2d.GetRoot("Elevator Root", 10, 0);
frc::MechanismLigament2d* m_elevatorMech2d =
m_elevatorRoot->Append<frc::MechanismLigament2d>(
"Elevator", units::inch_t(m_elevatorSim.GetPosition()).to<double>(),
"Elevator", units::inch_t(m_elevatorSim.GetPosition()).value(),
90_deg);
public:
@@ -95,21 +95,21 @@ class Robot : public frc::TimedRobot {
// Finally, we set our simulated encoder's readings and simulated battery
// voltage
m_encoderSim.SetDistance(m_elevatorSim.GetPosition().to<double>());
m_encoderSim.SetDistance(m_elevatorSim.GetPosition().value());
// SimBattery estimates loaded battery voltages
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()}));
// Update the Elevator length based on the simulated elevator height
m_elevatorMech2d->SetLength(
units::inch_t(m_elevatorSim.GetPosition()).to<double>());
units::inch_t(m_elevatorSim.GetPosition()).value());
}
void TeleopPeriodic() override {
if (m_joystick.GetTrigger()) {
// Here, we run PID control like normal, with a constant setpoint of 30in.
double pidOutput = m_controller.Calculate(
m_encoder.GetDistance(), units::meter_t(30_in).to<double>());
double pidOutput = m_controller.Calculate(m_encoder.GetDistance(),
units::meter_t(30_in).value());
m_motor.SetVoltage(units::volt_t(pidOutput));
} else {
// Otherwise, we disable the motor.

2
wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
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@@ -43,7 +43,7 @@ class Robot : public frc::TimedRobot {
// Send setpoint to offboard controller PID
m_motor.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
m_setpoint.position.to<double>(),
m_setpoint.position.value(),
m_feedforward.Calculate(m_setpoint.velocity) / 12_V);
}

4
wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
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@@ -16,9 +16,9 @@ ShooterSubsystem::ShooterSubsystem()
m_feederMotor(kFeederMotorPort),
m_shooterEncoder(kEncoderPorts[0], kEncoderPorts[1]),
m_shooterFeedforward(kS, kV) {
m_controller.SetTolerance(kShooterToleranceRPS.to<double>());
m_controller.SetTolerance(kShooterToleranceRPS.value());
m_shooterEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
SetSetpoint(kShooterTargetRPS.to<double>());
SetSetpoint(kShooterTargetRPS.value());
}
void ShooterSubsystem::UseOutput(double output, double setpoint) {

4
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
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@@ -25,9 +25,9 @@ Drivetrain::Drivetrain() {
m_rightEncoder.SetDistancePerPulse(0.042);
#else
// Circumference = diameter * pi. 360 tick simulated encoders.
m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.to<double>() *
m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
wpi::numbers::pi / 360.0);
m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.to<double>() *
m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
wpi::numbers::pi / 360.0);
#endif
SetName("Drivetrain");

7
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
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@@ -12,9 +12,9 @@ TurnToAngle::TurnToAngle(units::degree_t target, DriveSubsystem* drive)
: CommandHelper(
frc2::PIDController(kTurnP, kTurnI, kTurnD),
// Close loop on heading
[drive] { return drive->GetHeading().to<double>(); },
[drive] { return drive->GetHeading().value(); },
// Set reference to target
target.to<double>(),
target.value(),
// Pipe output to turn robot
[drive](double output) { drive->ArcadeDrive(0, output); },
// Require the drive
@@ -24,8 +24,7 @@ TurnToAngle::TurnToAngle(units::degree_t target, DriveSubsystem* drive)
// Set the controller tolerance - the delta tolerance ensures the robot is
// stationary at the setpoint before it is considered as having reached the
// reference
m_controller.SetTolerance(kTurnTolerance.to<double>(),
kTurnRateTolerance.to<double>());
m_controller.SetTolerance(kTurnTolerance.value(), kTurnRateTolerance.value());
AddRequirements({drive});
}

8
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
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@@ -22,13 +22,13 @@ void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
m_feedforward.Calculate(wheelSpeeds.rearRight);
const double frontLeftOutput = m_frontLeftPIDController.Calculate(
m_frontLeftEncoder.GetRate(), wheelSpeeds.frontLeft.to<double>());
m_frontLeftEncoder.GetRate(), wheelSpeeds.frontLeft.value());
const double frontRightOutput = m_frontRightPIDController.Calculate(
m_frontRightEncoder.GetRate(), wheelSpeeds.frontRight.to<double>());
m_frontRightEncoder.GetRate(), wheelSpeeds.frontRight.value());
const double backLeftOutput = m_backLeftPIDController.Calculate(
m_backLeftEncoder.GetRate(), wheelSpeeds.rearLeft.to<double>());
m_backLeftEncoder.GetRate(), wheelSpeeds.rearLeft.value());
const double backRightOutput = m_backRightPIDController.Calculate(
m_backRightEncoder.GetRate(), wheelSpeeds.rearRight.to<double>());
m_backRightEncoder.GetRate(), wheelSpeeds.rearRight.value());
m_frontLeftMotor.SetVoltage(units::volt_t{frontLeftOutput} +
frontLeftFeedforward);

17
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -18,15 +18,14 @@ frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
std::function<void(units::meters_per_second_t, const frc::Encoder&,
frc2::PIDController&, frc::PWMSparkMax&)>
calcAndSetSpeeds =
[&m_feedforward = m_feedforward](units::meters_per_second_t speed,
const auto& encoder,
auto& controller, auto& motor) {
auto feedforward = m_feedforward.Calculate(speed);
double output =
controller.Calculate(encoder.GetRate(), speed.to<double>());
motor.SetVoltage(units::volt_t{output} + feedforward);
};
calcAndSetSpeeds = [&m_feedforward = m_feedforward](
units::meters_per_second_t speed,
const auto& encoder, auto& controller,
auto& motor) {
auto feedforward = m_feedforward.Calculate(speed);
double output = controller.Calculate(encoder.GetRate(), speed.value());
motor.SetVoltage(units::volt_t{output} + feedforward);
};
calcAndSetSpeeds(wheelSpeeds.frontLeft, m_frontLeftEncoder,
m_frontLeftPIDController, m_frontLeftMotor);

4
wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Drivetrain.cpp
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@@ -8,9 +8,9 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
const auto leftFeedforward = m_feedforward.Calculate(speeds.left);
const auto rightFeedforward = m_feedforward.Calculate(speeds.right);
const double leftOutput = m_leftPIDController.Calculate(
m_leftEncoder.GetRate(), speeds.left.to<double>());
m_leftEncoder.GetRate(), speeds.left.value());
const double rightOutput = m_rightPIDController.Calculate(
m_rightEncoder.GetRate(), speeds.right.to<double>());
m_rightEncoder.GetRate(), speeds.right.value());
m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);

8
wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
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@@ -20,10 +20,10 @@ Drivetrain::Drivetrain() {
// gearbox is constructed, you might have to invert the left side instead.
m_rightMotor.SetInverted(true);
m_leftEncoder.SetDistancePerPulse(
wpi::numbers::pi * kWheelDiameter.to<double>() / kCountsPerRevolution);
m_rightEncoder.SetDistancePerPulse(
wpi::numbers::pi * kWheelDiameter.to<double>() / kCountsPerRevolution);
m_leftEncoder.SetDistancePerPulse(wpi::numbers::pi * kWheelDiameter.value() /
kCountsPerRevolution);
m_rightEncoder.SetDistancePerPulse(wpi::numbers::pi * kWheelDiameter.value() /
kCountsPerRevolution);
ResetEncoders();
}

20
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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@@ -10,9 +10,9 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
auto leftFeedforward = m_feedforward.Calculate(speeds.left);
auto rightFeedforward = m_feedforward.Calculate(speeds.right);
double leftOutput = m_leftPIDController.Calculate(m_leftEncoder.GetRate(),
speeds.left.to<double>());
double rightOutput = m_rightPIDController.Calculate(
m_rightEncoder.GetRate(), speeds.right.to<double>());
speeds.left.value());
double rightOutput = m_rightPIDController.Calculate(m_rightEncoder.GetRate(),
speeds.right.value());
m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
@@ -47,16 +47,12 @@ void Drivetrain::SimulationPeriodic() {
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);
m_leftEncoderSim.SetDistance(
m_drivetrainSimulator.GetLeftPosition().to<double>());
m_leftEncoderSim.SetRate(
m_drivetrainSimulator.GetLeftVelocity().to<double>());
m_leftEncoderSim.SetDistance(m_drivetrainSimulator.GetLeftPosition().value());
m_leftEncoderSim.SetRate(m_drivetrainSimulator.GetLeftVelocity().value());
m_rightEncoderSim.SetDistance(
m_drivetrainSimulator.GetRightPosition().to<double>());
m_rightEncoderSim.SetRate(
m_drivetrainSimulator.GetRightVelocity().to<double>());
m_gyroSim.SetAngle(
-m_drivetrainSimulator.GetHeading().Degrees().to<double>());
m_drivetrainSimulator.GetRightPosition().value());
m_rightEncoderSim.SetRate(m_drivetrainSimulator.GetRightVelocity().value());
m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees().value());
}
void Drivetrain::Periodic() {

6
wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
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@@ -122,9 +122,9 @@ class Robot : public frc::TimedRobot {
m_lastProfiledReference))
.Calculate(20_ms);
m_loop.SetNextR(Eigen::Vector<double, 2>{
m_lastProfiledReference.position.to<double>(),
m_lastProfiledReference.velocity.to<double>()});
m_loop.SetNextR(
Eigen::Vector<double, 2>{m_lastProfiledReference.position.value(),
m_lastProfiledReference.velocity.value()});
// Correct our Kalman filter's state vector estimate with encoder data.
m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetDistance()});

11
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -46,14 +46,11 @@ void DriveSubsystem::SimulationPeriodic() {
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);
m_leftEncoderSim.SetDistance(
m_drivetrainSimulator.GetLeftPosition().to<double>());
m_leftEncoderSim.SetRate(
m_drivetrainSimulator.GetLeftVelocity().to<double>());
m_leftEncoderSim.SetDistance(m_drivetrainSimulator.GetLeftPosition().value());
m_leftEncoderSim.SetRate(m_drivetrainSimulator.GetLeftVelocity().value());
m_rightEncoderSim.SetDistance(
m_drivetrainSimulator.GetRightPosition().to<double>());
m_rightEncoderSim.SetRate(
m_drivetrainSimulator.GetRightVelocity().to<double>());
m_drivetrainSimulator.GetRightPosition().value());
m_rightEncoderSim.SetRate(m_drivetrainSimulator.GetRightVelocity().value());
m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees());
}

2
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
View File

@@ -43,7 +43,7 @@ constexpr int kEncoderCPR = 1024;
constexpr auto kWheelDiameter = 6_in;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameter.to<double>() * wpi::numbers::pi) /
(kWheelDiameter.value() * wpi::numbers::pi) /
static_cast<double>(kEncoderCPR);
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!

10
wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
View File

@@ -90,8 +90,8 @@ class Robot : public frc::TimedRobot {
public:
void RobotInit() override {
// Circumference = pi * d, so distance per click = pi * d / counts
m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi *
kDrumRadius.to<double>() / 4096.0);
m_encoder.SetDistancePerPulse(2.0 * wpi::numbers::pi * kDrumRadius.value() /
4096.0);
}
void TeleopInit() override {
@@ -119,9 +119,9 @@ class Robot : public frc::TimedRobot {
m_lastProfiledReference))
.Calculate(20_ms);
m_loop.SetNextR(Eigen::Vector<double, 2>{
m_lastProfiledReference.position.to<double>(),
m_lastProfiledReference.velocity.to<double>()});
m_loop.SetNextR(
Eigen::Vector<double, 2>{m_lastProfiledReference.position.value(),
m_lastProfiledReference.velocity.value()});
// Correct our Kalman filter's state vector estimate with encoder data.
m_loop.Correct(Eigen::Vector<double, 1>{m_encoder.GetDistance()});

2
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
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@@ -93,7 +93,7 @@ class Robot : public frc::TimedRobot {
// setpoint of a PID controller.
if (m_joystick.GetRightBumper()) {
// We pressed the bumper, so let's set our next reference
m_loop.SetNextR(Eigen::Vector<double, 1>{kSpinup.to<double>()});
m_loop.SetNextR(Eigen::Vector<double, 1>{kSpinup.value()});
} else {
// We released the bumper, so let's spin down
m_loop.SetNextR(Eigen::Vector<double, 1>{0.0});

2
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
View File

@@ -94,7 +94,7 @@ class Robot : public frc::TimedRobot {
// setpoint of a PID controller.
if (m_joystick.GetRightBumper()) {
// We pressed the bumper, so let's set our next reference
m_loop.SetNextR(Eigen::Vector<double, 1>{kSpinup.to<double>()});
m_loop.SetNextR(Eigen::Vector<double, 1>{kSpinup.value()});
} else {
// We released the bumper, so let's spin down
m_loop.SetNextR(Eigen::Vector<double, 1>{0.0});

2
wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
View File

@@ -48,7 +48,7 @@ void SwerveModule::SetDesiredState(
// Calculate the drive output from the drive PID controller.
const auto driveOutput = m_drivePIDController.Calculate(
m_driveEncoder.GetRate(), state.speed.to<double>());
m_driveEncoder.GetRate(), state.speed.value());
const auto driveFeedforward = m_driveFeedforward.Calculate(state.speed);

2
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
View File

@@ -51,7 +51,7 @@ void SwerveModule::SetDesiredState(
// Calculate the drive output from the drive PID controller.
const auto driveOutput = m_drivePIDController.Calculate(
m_driveEncoder.GetRate(), state.speed.to<double>());
m_driveEncoder.GetRate(), state.speed.value());
// Calculate the turning motor output from the turning PID controller.
auto turnOutput = m_turningPIDController.Calculate(

6
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
View File

@@ -20,8 +20,8 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
// Set the distance per pulse for the drive encoder. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
// resolution.
m_driveEncoder.SetDistancePerPulse(
2 * wpi::numbers::pi * kWheelRadius.to<double>() / kEncoderResolution);
m_driveEncoder.SetDistancePerPulse(2 * wpi::numbers::pi *
kWheelRadius.value() / kEncoderResolution);
// Set the distance (in this case, angle) per pulse for the turning encoder.
// This is the the angle through an entire rotation (2 * wpi::numbers::pi)
@@ -48,7 +48,7 @@ void SwerveModule::SetDesiredState(
// Calculate the drive output from the drive PID controller.
const auto driveOutput = m_drivePIDController.Calculate(
m_driveEncoder.GetRate(), state.speed.to<double>());
m_driveEncoder.GetRate(), state.speed.value());
const auto driveFeedforward = m_driveFeedforward.Calculate(state.speed);