Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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
Download Patch File Download Diff File Expand all files Collapse all files

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);