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

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

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"