Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +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

8
wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
View File

@@ -56,10 +56,10 @@ ChassisSpeeds HolonomicDriveController::Calculate(
}
// Calculate feedback velocities (based on position error).
auto xFeedback = units::meters_per_second_t(m_xController.Calculate(
currentPose.X().to<double>(), poseRef.X().to<double>()));
auto yFeedback = units::meters_per_second_t(m_yController.Calculate(
currentPose.Y().to<double>(), poseRef.Y().to<double>()));
auto xFeedback = units::meters_per_second_t(
m_xController.Calculate(currentPose.X().value(), poseRef.X().value()));
auto yFeedback = units::meters_per_second_t(
m_yController.Calculate(currentPose.Y().value(), poseRef.Y().value()));
// Return next output.
return ChassisSpeeds::FromFieldRelativeSpeeds(

8
wpimath/src/main/native/cpp/controller/PIDController.cpp
View File

@@ -21,7 +21,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
if (period <= 0_s) {
wpi::math::MathSharedStore::ReportError(
"Controller period must be a non-zero positive number, got {}!",
period.to<double>());
period.value());
m_period = 20_ms;
wpi::math::MathSharedStore::ReportWarning(
"{}", "Controller period defaulted to 20ms.");
@@ -86,7 +86,7 @@ bool PIDController::AtSetpoint() const {
positionError = m_setpoint - m_measurement;
}
double velocityError = (positionError - m_prevError) / m_period.to<double>();
double velocityError = (positionError - m_prevError) / m_period.value();
return std::abs(positionError) < m_positionTolerance &&
std::abs(velocityError) < m_velocityTolerance;
@@ -139,11 +139,11 @@ double PIDController::Calculate(double measurement) {
m_positionError = m_setpoint - measurement;
}
m_velocityError = (m_positionError - m_prevError) / m_period.to<double>();
m_velocityError = (m_positionError - m_prevError) / m_period.value();
if (m_Ki != 0) {
m_totalError =
std::clamp(m_totalError + m_positionError * m_period.to<double>(),
std::clamp(m_totalError + m_positionError * m_period.value(),
m_minimumIntegral / m_Ki, m_maximumIntegral / m_Ki);
}

10
wpimath/src/main/native/cpp/controller/RamseteController.cpp
View File

@@ -51,11 +51,11 @@ ChassisSpeeds RamseteController::Calculate(
m_poseError = poseRef.RelativeTo(currentPose);
// Aliases for equation readability
double eX = m_poseError.X().to<double>();
double eY = m_poseError.Y().to<double>();
double eTheta = m_poseError.Rotation().Radians().to<double>();
double vRef = linearVelocityRef.to<double>();
double omegaRef = angularVelocityRef.to<double>();
double eX = m_poseError.X().value();
double eY = m_poseError.Y().value();
double eTheta = m_poseError.Rotation().Radians().value();
double vRef = linearVelocityRef.value();
double omegaRef = angularVelocityRef.value();
double k =
2.0 * m_zeta * std::sqrt(std::pow(omegaRef, 2) + m_b * std::pow(vRef, 2));