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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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52
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -24,15 +24,15 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
SpeedController& rearLeftMotor,
SpeedController& frontRightMotor,
SpeedController& rearRightMotor)
: m_frontLeftMotor(frontLeftMotor),
m_rearLeftMotor(rearLeftMotor),
m_frontRightMotor(frontRightMotor),
m_rearRightMotor(rearRightMotor) {
: m_frontLeftMotor(&frontLeftMotor),
m_rearLeftMotor(&rearLeftMotor),
m_frontRightMotor(&frontRightMotor),
m_rearRightMotor(&rearRightMotor) {
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_frontLeftMotor);
registry.AddChild(this, &m_rearLeftMotor);
registry.AddChild(this, &m_frontRightMotor);
registry.AddChild(this, &m_rearRightMotor);
registry.AddChild(this, m_frontLeftMotor);
registry.AddChild(this, m_rearLeftMotor);
registry.AddChild(this, m_frontRightMotor);
registry.AddChild(this, m_rearRightMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "MecanumDrive", instances);
@@ -64,12 +64,12 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
Normalize(wheelSpeeds);
m_frontLeftMotor.Set(wheelSpeeds[kFrontLeft] * m_maxOutput);
m_frontRightMotor.Set(wheelSpeeds[kFrontRight] * m_maxOutput *
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeft] * m_maxOutput);
m_frontRightMotor->Set(wheelSpeeds[kFrontRight] * m_maxOutput *
m_rightSideInvertMultiplier);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeft] * m_maxOutput);
m_rearRightMotor->Set(wheelSpeeds[kRearRight] * m_maxOutput *
m_rightSideInvertMultiplier);
m_rearLeftMotor.Set(wheelSpeeds[kRearLeft] * m_maxOutput);
m_rearRightMotor.Set(wheelSpeeds[kRearRight] * m_maxOutput *
m_rightSideInvertMultiplier);
Feed();
}
@@ -96,10 +96,10 @@ void MecanumDrive::SetRightSideInverted(bool rightSideInverted) {
}
void MecanumDrive::StopMotor() {
m_frontLeftMotor.StopMotor();
m_frontRightMotor.StopMotor();
m_rearLeftMotor.StopMotor();
m_rearRightMotor.StopMotor();
m_frontLeftMotor->StopMotor();
m_frontRightMotor->StopMotor();
m_rearLeftMotor->StopMotor();
m_rearRightMotor->StopMotor();
Feed();
}
@@ -111,22 +111,22 @@ void MecanumDrive::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("MecanumDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Front Left Motor Speed",
[=]() { return m_frontLeftMotor.Get(); },
[=](double value) { m_frontLeftMotor.Set(value); });
builder.AddDoubleProperty(
"Front Left Motor Speed", [=]() { return m_frontLeftMotor->Get(); },
[=](double value) { m_frontLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Front Right Motor Speed",
[=]() { return m_frontRightMotor.Get() * m_rightSideInvertMultiplier; },
[=]() { return m_frontRightMotor->Get() * m_rightSideInvertMultiplier; },
[=](double value) {
m_frontRightMotor.Set(value * m_rightSideInvertMultiplier);
m_frontRightMotor->Set(value * m_rightSideInvertMultiplier);
});
builder.AddDoubleProperty("Rear Left Motor Speed",
[=]() { return m_rearLeftMotor.Get(); },
[=](double value) { m_rearLeftMotor.Set(value); });
[=]() { return m_rearLeftMotor->Get(); },
[=](double value) { m_rearLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Rear Right Motor Speed",
[=]() { return m_rearRightMotor.Get() * m_rightSideInvertMultiplier; },
[=]() { return m_rearRightMotor->Get() * m_rightSideInvertMultiplier; },
[=](double value) {
m_rearRightMotor.Set(value * m_rightSideInvertMultiplier);
m_rearRightMotor->Set(value * m_rightSideInvertMultiplier);
});
}