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

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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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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
View File

@@ -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();