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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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22
xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
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@@ -7,9 +7,12 @@
#include <frc/Errors.h>
#include <map>
#include <numbers>
#include <set>
#include <string>
#include <units/angle.h>
using namespace frc;
std::map<int, std::string> XRPServo::s_simDeviceMap = {{4, "servo1"},
@@ -44,28 +47,21 @@ XRPServo::XRPServo(int deviceNum) {
}
}
void XRPServo::SetAngle(double angleDegrees) {
if (angleDegrees < 0.0) {
angleDegrees = 0.0;
}
if (angleDegrees > 180.0) {
angleDegrees = 180.0;
}
double pos = (angleDegrees / 180.0);
void XRPServo::SetAngle(units::radian_t angle) {
angle = std::clamp<units::radian_t>(angle, 0_deg, 180_deg);
double pos = angle.value() / std::numbers::pi;
if (m_simPosition) {
m_simPosition.Set(pos);
}
}
double XRPServo::GetAngle() const {
units::radian_t XRPServo::GetAngle() const {
if (m_simPosition) {
return m_simPosition.Get() * 180.0;
return units::radian_t{m_simPosition.Get() * std::numbers::pi};
}
return 90.0;
return 90_deg;
}
void XRPServo::SetPosition(double pos) {