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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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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.