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Use constexpr for all example constants

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Also make DifferentialDriveKinematics constructor constexpr.
This commit is contained in:
Peter Johnson
2019-10-27 19:32:56 -07:00
parent 0be6b64756
commit 5509a8e968
7 changed files with 110 additions and 110 deletions
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54
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
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@@ -19,50 +19,50 @@
*/
namespace DriveConstants {
const int kLeftMotor1Port = 0;
const int kLeftMotor2Port = 1;
const int kRightMotor1Port = 2;
const int kRightMotor2Port = 3;
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
const int kLeftEncoderPorts[]{0, 1};
const int kRightEncoderPorts[]{2, 3};
const bool kLeftEncoderReversed = false;
const bool kRightEncoderReversed = true;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
const int kEncoderCPR = 1024;
const double kWheelDiameterInches = 6;
const double kEncoderDistancePerPulse =
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
} // namespace DriveConstants
namespace ShooterConstants {
const int kEncoderPorts[]{4, 5};
const bool kEncoderReversed = false;
const int kEncoderCPR = 1024;
const double kEncoderDistancePerPulse =
constexpr int kEncoderPorts[]{4, 5};
constexpr bool kEncoderReversed = false;
constexpr int kEncoderCPR = 1024;
constexpr double kEncoderDistancePerPulse =
// Distance units will be rotations
1. / static_cast<double>(kEncoderCPR);
const int kShooterMotorPort = 4;
const int kFeederMotorPort = 5;
constexpr int kShooterMotorPort = 4;
constexpr int kFeederMotorPort = 5;
const double kShooterFreeRPS = 5300;
const double kShooterTargetRPS = 4000;
const double kShooterToleranceRPS = 50;
constexpr double kShooterFreeRPS = 5300;
constexpr double kShooterTargetRPS = 4000;
constexpr double kShooterToleranceRPS = 50;
const double kP = 1;
const double kI = 0;
const double kD = 0;
constexpr double kP = 1;
constexpr double kI = 0;
constexpr double kD = 0;
// On a real robot the feedforward constants should be empirically determined;
// these are reasonable guesses.
const double kSFractional = .05;
const double kVFractional =
constexpr double kSFractional = .05;
constexpr double kVFractional =
// Should have value 1 at free speed...
1. / kShooterFreeRPS;
const double kFeederSpeed = .5;
constexpr double kFeederSpeed = .5;
} // namespace ShooterConstants
namespace AutoConstants {
@@ -71,5 +71,5 @@ constexpr auto kAutoShootTimeSeconds = 7_s;
} // namespace AutoConstants
namespace OIConstants {
const int kDriverControllerPort = 1;
constexpr int kDriverControllerPort = 1;
} // namespace OIConstants