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

Use standard constant for pi instead of 3.14 (#2084)

Browse Source
This commit is contained in:
Tyler Veness
2019-11-15 17:33:18 -08:00
committed by Peter Johnson
parent db2c3dddd7
commit 1b66ead49d
14 changed files with 32 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
View File

@@ -7,8 +7,6 @@
#pragma once
#include <units/units.h>
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/Spark.h>
@@ -16,6 +14,7 @@
#include <frc/controller/PIDController.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <units/units.h>
#include <wpi/math>
/**

8
wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
View File

@@ -5,20 +5,22 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <units/units.h>
#include <frc/Encoder.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/trajectory/TrapezoidProfile.h>
#include <units/units.h>
#include <wpi/math>
class Robot : public frc::TimedRobot {
public:
static constexpr units::second_t kDt = 20_ms;
Robot() { m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5); }
Robot() {
m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::math::pi * 1.5);
}
void TeleopPeriodic() override {
if (m_joystick.GetRawButtonPressed(2)) {

5
wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
View File

@@ -11,12 +11,15 @@
#include <frc/TimedRobot.h>
#include <frc/controller/PIDController.h>
#include <frc/trajectory/TrapezoidProfile.h>
#include <wpi/math>
class Robot : public frc::TimedRobot {
public:
static constexpr units::second_t kDt = 20_ms;
Robot() { m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5); }
Robot() {
m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::math::pi * 1.5);
}
void TeleopPeriodic() override {
if (m_joystick.GetRawButtonPressed(2)) {

5
wpilibcExamples/src/main/cpp/examples/Encoder/cpp/Robot.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
#include <frc/Encoder.h>
#include <frc/TimedRobot.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <wpi/math>
/**
* Sample program displaying the value of a quadrature encoder on the
@@ -42,7 +43,7 @@ class Robot : public frc::TimedRobot {
* inch diameter (1.5inch radius) wheel, and that we want to measure
* distance in inches.
*/
m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::math::pi * 1.5);
/* Defines the lowest rate at which the encoder will not be considered
* stopped, for the purposes of the GetStopped() method. Units are in

3
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
View File

@@ -8,6 +8,7 @@
#pragma once
#include <units/units.h>
#include <wpi/math>
/**
* The Constants header provides a convenient place for teams to hold robot-wide
@@ -33,7 +34,7 @@ constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
(kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
} // namespace DriveConstants
namespace ShooterConstants {

4
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
View File

@@ -7,6 +7,8 @@
#pragma once
#include <wpi/math>
/**
* The Constants header provides a convenient place for teams to hold robot-wide
* numerical or bool constants. This should not be used for any other purpose.
@@ -31,7 +33,7 @@ constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
(kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
constexpr bool kGyroReversed = true;

4
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
View File

@@ -7,6 +7,8 @@
#pragma once
#include <wpi/math>
/**
* The Constants header provides a convenient place for teams to hold robot-wide
* numerical or bool constants. This should not be used for any other purpose.
@@ -31,7 +33,7 @@ constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
(kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
} // namespace DriveConstants
namespace HatchConstants {

4
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
View File

@@ -7,6 +7,8 @@
#pragma once
#include <wpi/math>
/**
* The Constants header provides a convenient place for teams to hold robot-wide
* numerical or bool constants. This should not be used for any other purpose.
@@ -31,7 +33,7 @@ constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
(kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
} // namespace DriveConstants
namespace HatchConstants {

6
wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
View File

@@ -5,10 +5,10 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <units/units.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
#include <units/units.h>
#include <wpi/math>
#pragma once
@@ -39,7 +39,7 @@ constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
(kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
constexpr bool kGyroReversed = true;

3
wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
View File

@@ -7,8 +7,6 @@
#pragma once
#include <units/units.h>
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
@@ -17,6 +15,7 @@
#include <frc/geometry/Pose2d.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <frc2/command/SubsystemBase.h>
#include <units/units.h>
#include "Constants.h"