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[examples] Update C++ XRP Code to use SI Units (#7366)

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This commit is contained in:
Kavin Muralikrishnan
2024-11-08 23:24:13 -05:00
committed by GitHub
parent edc3963955
commit 280d2c7e32
9 changed files with 100 additions and 93 deletions
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20
wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.h
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@@ -10,6 +10,8 @@
#include <frc/xrp/XRPGyro.h>
#include <frc/xrp/XRPMotor.h>
#include <frc2/command/SubsystemBase.h>
#include <units/acceleration.h>
#include <units/angle.h>
#include <units/length.h>
class Drivetrain : public frc2::SubsystemBase {
@@ -77,34 +79,34 @@ class Drivetrain : public frc2::SubsystemBase {
units::meter_t GetAverageDistance();
/**
* Returns the acceleration along the X-axis, in Gs.
* Returns the acceleration along the X-axis, in m/s².
*/
double GetAccelX();
units::meters_per_second_squared_t GetAccelX();
/**
* Returns the acceleration along the Y-axis, in Gs.
* Returns the acceleration along the Y-axis, in m/s².
*/
double GetAccelY();
units::meters_per_second_squared_t GetAccelY();
/**
* Returns the acceleration along the Z-axis, in Gs.
* Returns the acceleration along the Z-axis, in m/s².
*/
double GetAccelZ();
units::meters_per_second_squared_t GetAccelZ();
/**
* Returns the current angle of the Romi around the X-axis, in degrees.
*/
double GetGyroAngleX();
units::radian_t GetGyroAngleX();
/**
* Returns the current angle of the Romi around the Y-axis, in degrees.
*/
double GetGyroAngleY();
units::radian_t GetGyroAngleY();
/**
* Returns the current angle of the Romi around the Z-axis, in degrees.
*/
double GetGyroAngleZ();
units::radian_t GetGyroAngleZ();
/**
* Reset the gyro.