[romi] Update Romi for parity with XRP (#7389)

wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp

@@ -63,27 +63,27 @@ units::meter_t Drivetrain::GetAverageDistance() {
   return (GetLeftDistance() + GetRightDistance()) / 2.0;
 }
 
-double Drivetrain::GetAccelX() {
-  return m_accelerometer.GetX();
+units::meters_per_second_squared_t Drivetrain::GetAccelX() {
+  return units::meters_per_second_squared_t{m_accelerometer.GetX()};
 }
 
-double Drivetrain::GetAccelY() {
-  return m_accelerometer.GetY();
+units::meters_per_second_squared_t Drivetrain::GetAccelY() {
+  return units::meters_per_second_squared_t{m_accelerometer.GetY()};
 }
 
-double Drivetrain::GetAccelZ() {
-  return m_accelerometer.GetZ();
+units::meters_per_second_squared_t Drivetrain::GetAccelZ() {
+  return units::meters_per_second_squared_t{m_accelerometer.GetZ()};
 }
 
-double Drivetrain::GetGyroAngleX() {
+units::radian_t Drivetrain::GetGyroAngleX() {
   return m_gyro.GetAngleX();
 }
 
-double Drivetrain::GetGyroAngleY() {
+units::radian_t Drivetrain::GetGyroAngleY() {
   return m_gyro.GetAngleY();
 }
 
-double Drivetrain::GetGyroAngleZ() {
+units::radian_t Drivetrain::GetGyroAngleZ() {
   return m_gyro.GetAngleZ();
 }
 

wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousDistance.h

@@ -15,6 +15,12 @@ class AutonomousDistance
     : public frc2::CommandHelper<frc2::SequentialCommandGroup,
                                  AutonomousDistance> {
  public:
+  /**
+   * Creates a new Autonomous Drive based on distance. This will drive out for a
+   * specified distance, turn around and drive back.
+   *
+   * @param drive The drivetrain subsystem on which this command will run
+   */
   explicit AutonomousDistance(Drivetrain* drive) {
     AddCommands(
         DriveDistance(-0.5, 10_in, drive), TurnDegrees(-0.5, 180_deg, drive),

wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/AutonomousTime.h

@@ -14,6 +14,14 @@
 class AutonomousTime
     : public frc2::CommandHelper<frc2::SequentialCommandGroup, AutonomousTime> {
  public:
+  /**
+   * Creates a new Autonomous Drive based on time. This will drive out for a
+   * period of time, turn around for time (equivalent to time to turn around)
+   * and drive forward again. This should mimic driving out, turning around and
+   * driving back.
+   *
+   * @param drive The drive subsystem on which this command will run
+   */
   explicit AutonomousTime(Drivetrain* drive) {
     AddCommands(DriveTime(-0.6, 2_s, drive), TurnTime(-0.5, 1.3_s, drive),
                 DriveTime(-0.6, 2_s, drive), TurnTime(0.5, 1.3_s, drive));

wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.h

@@ -12,6 +12,14 @@
 
 class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
  public:
+  /**
+   * Creates a new DriveDistance. This command will drive your your robot for a
+   * desired distance at a desired speed.
+   *
+   * @param speed The speed at which the robot will drive
+   * @param distance The distance the robot will drive
+   * @param drive The drivetrain subsystem on which this command will run
+   */
   DriveDistance(double speed, units::meter_t distance, Drivetrain* drive)
       : m_speed(speed), m_distance(distance), m_drive(drive) {
     AddRequirements(m_drive);

wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.h

@@ -13,6 +13,14 @@
 
 class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
  public:
+  /**
+   * Creates a new DriveTime. This command will drive your robot for a desired
+   * speed and time.
+   *
+   * @param speed The speed which the robot will drive. Negative is in reverse.
+   * @param time How much time to drive
+   * @param drive The drivetrain subsystem on which this command will run
+   */
   DriveTime(double speed, units::second_t time, Drivetrain* drive)
       : m_speed(speed), m_duration(time), m_drive(drive) {
     AddRequirements(m_drive);

wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.h

@@ -14,6 +14,14 @@
 class TeleopArcadeDrive
     : public frc2::CommandHelper<frc2::Command, TeleopArcadeDrive> {
  public:
+  /**
+   * Creates a new ArcadeDrive. This command will drive your robot according to
+   * the speed suppliers. This command does not terminate.
+   *
+   * @param drivetrain The drivetrain subsystem on which this command will run
+   * @param xaxisSpeedSupplier Supplier of forward/backward speed
+   * @param zaxisRotateSupplier Supplier of rotational speed
+   */
   TeleopArcadeDrive(Drivetrain* subsystem,
                     std::function<double()> xaxisSpeedSupplier,
                     std::function<double()> zaxisRotateSupplier);

wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.h

@@ -13,6 +13,14 @@
 
 class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
  public:
+  /**
+   * Creates a new TurnDegrees. This command will turn your robot for a desired
+   * rotation (in degrees) and rotational speed.
+   *
+   * @param speed The speed which the robot will drive. Negative is in reverse.
+   * @param degrees Degrees to turn. Leverages encoders to compare distance.
+   * @param drive The drive subsystem on which this command will run
+   */
   TurnDegrees(double speed, units::degree_t angle, Drivetrain* drive)
       : m_speed(speed), m_angle(angle), m_drive(drive) {
     AddRequirements(m_drive);

wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.h

@@ -13,6 +13,13 @@
 
 class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
  public:
+  /**
+   * Creates a new TurnTime.
+   *
+   * @param speed The speed which the robot will turn. Negative is in reverse.
+   * @param time How much time to turn
+   * @param drive The drive subsystem on which this command will run
+   */
   TurnTime(double speed, units::second_t time, Drivetrain* drive)
       : m_speed(speed), m_duration(time), m_drive(drive) {
     AddRequirements(m_drive);

wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h

@@ -10,6 +10,8 @@
 #include <frc/motorcontrol/Spark.h>
 #include <frc/romi/RomiGyro.h>
 #include <frc2/command/SubsystemBase.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
 #include <units/length.h>
 
 class Drivetrain : public frc2::SubsystemBase {
@@ -73,34 +75,46 @@ class Drivetrain : public frc2::SubsystemBase {
   units::meter_t GetAverageDistance();
 
   /**
-   * Returns the acceleration along the X-axis, in Gs.
+   * The acceleration in the X-axis.
+   *
+   * @return The acceleration of the Romi along the X-axis.
    */
-  double GetAccelX();
+  units::meters_per_second_squared_t GetAccelX();
 
   /**
-   * Returns the acceleration along the Y-axis, in Gs.
+   * The acceleration in the Y-axis.
+   *
+   * @return The acceleration of the Romi along the Y-axis.
    */
-  double GetAccelY();
+  units::meters_per_second_squared_t GetAccelY();
 
   /**
-   * Returns the acceleration along the Z-axis, in Gs.
+   * The acceleration in the Z-axis.
+   *
+   * @return The acceleration of the Romi along the Z-axis.
    */
-  double GetAccelZ();
+  units::meters_per_second_squared_t GetAccelZ();
 
   /**
-   * Returns the current angle of the Romi around the X-axis, in degrees.
+   * Current angle of the Romi around the X-axis.
+   *
+   * @return The current angle of the Romi.
    */
-  double GetGyroAngleX();
+  units::radian_t GetGyroAngleX();
 
   /**
-   * Returns the current angle of the Romi around the Y-axis, in degrees.
+   * Current angle of the Romi around the Y-axis.
+   *
+   * @return The current angle of the Romi.
    */
-  double GetGyroAngleY();
+  units::radian_t GetGyroAngleY();
 
   /**
-   * Returns the current angle of the Romi around the Z-axis, in degrees.
+   * Current angle of the Romi around the Z-axis.
+   *
+   * @return The current angle of the Romi.
    */
-  double GetGyroAngleZ();
+  units::radian_t GetGyroAngleZ();
 
   /**
    * Reset the gyro.