From 4afb13f98bfa6ab3d2605e1237688e70f6008bec Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Thu, 17 Dec 2020 00:15:02 -0800 Subject: [PATCH] [examples] Replace M_PI with wpi::math::pi (#2938) --- .../GearsBot/cpp/subsystems/DriveTrain.cpp | 12 +++++++----- .../PacGoat/cpp/subsystems/DriveTrain.cpp | 16 ++++++++-------- .../examples/gearsbot/subsystems/DriveTrain.java | 2 +- .../examples/pacgoat/subsystems/DriveTrain.java | 4 ++-- 4 files changed, 18 insertions(+), 16 deletions(-) diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp index 6bc946cdd7..177cdeac15 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp @@ -9,6 +9,8 @@ #include #include +#include +#include DriveTrain::DriveTrain() { // Encoders may measure differently in the real world and in @@ -20,11 +22,11 @@ DriveTrain::DriveTrain() { m_leftEncoder.SetDistancePerPulse(0.042); m_rightEncoder.SetDistancePerPulse(0.042); #else - // Circumference in ft = 4in/12(in/ft)*PI - m_leftEncoder.SetDistancePerPulse(static_cast(4.0 / 12.0 * M_PI) / - 360.0); - m_rightEncoder.SetDistancePerPulse(static_cast(4.0 / 12.0 * M_PI) / - 360.0); + // Circumference = diameter * pi. 360 tick simulated encoders. + m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.to() * + wpi::math::pi / 360.0); + m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.to() * + wpi::math::pi / 360.0); #endif SetName("DriveTrain"); // Let's show everything on the LiveWindow diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp index 53cb625d86..260a860481 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -7,9 +7,9 @@ #include "subsystems/DriveTrain.h" -#include - #include +#include +#include #include "commands/DriveWithJoystick.h" @@ -36,11 +36,11 @@ DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") { m_rightEncoder.SetDistancePerPulse(0.0785398); m_leftEncoder.SetDistancePerPulse(0.0785398); #else - // Convert to feet 4in diameter wheels with 360 tick simulated encoders - m_rightEncoder.SetDistancePerPulse((4.0 /*in*/ * M_PI) / - (360.0 * 12.0 /*in/ft*/)); - m_leftEncoder.SetDistancePerPulse((4.0 /*in*/ * M_PI) / - (360.0 * 12.0 /*in/ft*/)); + // Circumference = diameter * pi. 360 tick simulated encoders. + m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.to() * + wpi::math::pi / 360.0); + m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.to() * + wpi::math::pi / 360.0); #endif AddChild("Right Encoder", m_rightEncoder); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java index 9c85429d21..ef3f705078 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java @@ -51,7 +51,7 @@ public class DriveTrain extends SubsystemBase { m_leftEncoder.setDistancePerPulse(0.042); m_rightEncoder.setDistancePerPulse(0.042); } else { - // Circumference in ft = 4in/12(in/ft)*PI + // Circumference = diameter in feet * pi. 360 tick simulated encoders. m_leftEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0); m_rightEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java index 9b165de221..786c091318 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ @@ -61,7 +61,7 @@ public class DriveTrain extends Subsystem { m_rightEncoder.setDistancePerPulse(0.0785398); m_leftEncoder.setDistancePerPulse(0.0785398); } else { - // Convert to feet 4in diameter wheels with 360 tick sim encoders + // Circumference = diameter in feet * pi. 360 tick simulated encoders. m_rightEncoder.setDistancePerPulse( (4.0/* in */ * Math.PI) / (360.0 * 12.0/* in/ft */)); m_leftEncoder.setDistancePerPulse(