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[examples] Replace M_PI with wpi::math::pi (#2938)

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This commit is contained in:
Tyler Veness
2020-12-17 00:15:02 -08:00
committed by GitHub
parent b27d33675d
commit 4afb13f98b
4 changed files with 18 additions and 16 deletions
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12
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp
View File

@@ -9,6 +9,8 @@
#include <frc/Joystick.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <units/length.h>
#include <wpi/math>
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<double>(4.0 / 12.0 * M_PI) /
360.0);
m_rightEncoder.SetDistancePerPulse(static_cast<double>(4.0 / 12.0 * M_PI) /
360.0);
// Circumference = diameter * pi. 360 tick simulated encoders.
m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.to<double>() *
wpi::math::pi / 360.0);
m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.to<double>() *
wpi::math::pi / 360.0);
#endif
SetName("DriveTrain");
// Let's show everything on the LiveWindow

16
wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp
View File

@@ -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 <cmath>
#include <frc/Joystick.h>
#include <units/length.h>
#include <wpi/math>
#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<double>() *
wpi::math::pi / 360.0);
m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.to<double>() *
wpi::math::pi / 360.0);
#endif
AddChild("Right Encoder", m_rightEncoder);