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[wpilib, examples] Cleanup PotentiometerPID, Ultrasonic, UltrasonicPID examples (#4893)

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Fix C++ Ultrasonic to return correct units.
This commit is contained in:
Starlight220
2023-01-09 02:33:07 +02:00
committed by GitHub
parent babb0c1fcf
commit 2cd9be413f
24 changed files with 1052 additions and 301 deletions
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7
wpilibc/src/main/native/cpp/Ultrasonic.cpp
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@@ -85,10 +85,7 @@ int Ultrasonic::GetEchoChannel() const {
}
void Ultrasonic::Ping() {
if (m_automaticEnabled) {
throw FRC_MakeError(err::IncompatibleMode,
"cannot call Ping() in automatic mode");
}
SetAutomaticMode(false); // turn off automatic round-robin if pinging
// Reset the counter to zero (invalid data now)
m_counter.Reset();
@@ -138,7 +135,7 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
units::meter_t Ultrasonic::GetRange() const {
if (IsRangeValid()) {
if (m_simRange) {
return units::meter_t{m_simRange.Get()};
return units::inch_t{m_simRange.Get()};
}
return m_counter.GetPeriod() * kSpeedOfSound / 2.0;
} else {