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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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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);