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Fix implicitly deleted move constructors (#1954)

Browse Source 
These were incorrect and exhibited as warnings on more recent versions of
clang (notably on Mac).

- Use pointers instead of references internally in GenericHID and *Drive
- Leave PIDBase, PIDController, and Resource non-moveable
- Remove the atomic from m_disabled in NidecBrushless
- Make Timer and Trigger copyable as well as moveable
- Implement custom move constructor/assignment for SendableChooserBase

Also comment out some unused variables that caused clang warnings.
This commit is contained in:
Peter Johnson
2019-10-19 11:36:44 -07:00
committed by GitHub
parent f3ad927f45
commit 2c50937975
19 changed files with 160 additions and 108 deletions
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32
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -20,10 +20,10 @@ using namespace frc;
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
: m_leftMotor(leftMotor), m_rightMotor(rightMotor) {
: m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_leftMotor);
registry.AddChild(this, &m_rightMotor);
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "DifferentialDrive", instances);
@@ -77,9 +77,9 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
}
}
m_leftMotor.Set(std::clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
m_leftMotor->Set(std::clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
double maxOutput = m_maxOutput * m_rightSideInvertMultiplier;
m_rightMotor.Set(std::clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
m_rightMotor->Set(std::clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
Feed();
}
@@ -151,9 +151,9 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
rightMotorOutput /= maxMagnitude;
}
m_leftMotor.Set(leftMotorOutput * m_maxOutput);
m_rightMotor.Set(rightMotorOutput * m_maxOutput *
m_rightSideInvertMultiplier);
m_leftMotor->Set(leftMotorOutput * m_maxOutput);
m_rightMotor->Set(rightMotorOutput * m_maxOutput *
m_rightSideInvertMultiplier);
Feed();
}
@@ -180,8 +180,8 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
rightSpeed = std::copysign(rightSpeed * rightSpeed, rightSpeed);
}
m_leftMotor.Set(leftSpeed * m_maxOutput);
m_rightMotor.Set(rightSpeed * m_maxOutput * m_rightSideInvertMultiplier);
m_leftMotor->Set(leftSpeed * m_maxOutput);
m_rightMotor->Set(rightSpeed * m_maxOutput * m_rightSideInvertMultiplier);
Feed();
}
@@ -203,8 +203,8 @@ void DifferentialDrive::SetRightSideInverted(bool rightSideInverted) {
}
void DifferentialDrive::StopMotor() {
m_leftMotor.StopMotor();
m_rightMotor.StopMotor();
m_leftMotor->StopMotor();
m_rightMotor->StopMotor();
Feed();
}
@@ -217,12 +217,12 @@ void DifferentialDrive::InitSendable(SendableBuilder& builder) {
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Left Motor Speed",
[=]() { return m_leftMotor.Get(); },
[=](double value) { m_leftMotor.Set(value); });
[=]() { return m_leftMotor->Get(); },
[=](double value) { m_leftMotor->Set(value); });
builder.AddDoubleProperty(
"Right Motor Speed",
[=]() { return m_rightMotor.Get() * m_rightSideInvertMultiplier; },
[=]() { return m_rightMotor->Get() * m_rightSideInvertMultiplier; },
[=](double value) {
m_rightMotor.Set(value * m_rightSideInvertMultiplier);
m_rightMotor->Set(value * m_rightSideInvertMultiplier);
});
}