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Fix implicitly deleted move constructors (#1954)

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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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34
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
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@@ -29,7 +29,9 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SpeedController& rightMotor,
SpeedController& backMotor, double leftMotorAngle,
double rightMotorAngle, double backMotorAngle)
: m_leftMotor(leftMotor), m_rightMotor(rightMotor), m_backMotor(backMotor) {
: m_leftMotor(&leftMotor),
m_rightMotor(&rightMotor),
m_backMotor(&backMotor) {
m_leftVec = {std::cos(leftMotorAngle * (wpi::math::pi / 180.0)),
std::sin(leftMotorAngle * (wpi::math::pi / 180.0))};
m_rightVec = {std::cos(rightMotorAngle * (wpi::math::pi / 180.0)),
@@ -37,9 +39,9 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
m_backVec = {std::cos(backMotorAngle * (wpi::math::pi / 180.0)),
std::sin(backMotorAngle * (wpi::math::pi / 180.0))};
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_leftMotor);
registry.AddChild(this, &m_rightMotor);
registry.AddChild(this, &m_backMotor);
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
registry.AddChild(this, m_backMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "KilloughDrive", instances);
@@ -70,9 +72,9 @@ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
Normalize(wheelSpeeds);
m_leftMotor.Set(wheelSpeeds[kLeft] * m_maxOutput);
m_rightMotor.Set(wheelSpeeds[kRight] * m_maxOutput);
m_backMotor.Set(wheelSpeeds[kBack] * m_maxOutput);
m_leftMotor->Set(wheelSpeeds[kLeft] * m_maxOutput);
m_rightMotor->Set(wheelSpeeds[kRight] * m_maxOutput);
m_backMotor->Set(wheelSpeeds[kBack] * m_maxOutput);
Feed();
}
@@ -91,9 +93,9 @@ void KilloughDrive::DrivePolar(double magnitude, double angle,
}
void KilloughDrive::StopMotor() {
m_leftMotor.StopMotor();
m_rightMotor.StopMotor();
m_backMotor.StopMotor();
m_leftMotor->StopMotor();
m_rightMotor->StopMotor();
m_backMotor->StopMotor();
Feed();
}
@@ -106,12 +108,12 @@ void KilloughDrive::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(); },
[=](double value) { m_rightMotor.Set(value); });
[=]() { return m_rightMotor->Get(); },
[=](double value) { m_rightMotor->Set(value); });
builder.AddDoubleProperty("Back Motor Speed",
[=]() { return m_backMotor.Get(); },
[=](double value) { m_backMotor.Set(value); });
[=]() { return m_backMotor->Get(); },
[=](double value) { m_backMotor->Set(value); });
}