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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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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() {