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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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48
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
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@@ -17,42 +17,42 @@
*/
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);
const bool kGyroReversed = true;
constexpr bool kGyroReversed = true;
const double kStabilizationP = 1;
const double kStabilizationI = .5;
const double kStabilizationD = 0;
constexpr double kStabilizationP = 1;
constexpr double kStabilizationI = .5;
constexpr double kStabilizationD = 0;
const double kTurnP = 1;
const double kTurnI = 0;
const double kTurnD = 0;
constexpr double kTurnP = 1;
constexpr double kTurnI = 0;
constexpr double kTurnD = 0;
const double kTurnToleranceDeg = 5;
const double kTurnRateToleranceDegPerS = 10; // degrees per second
constexpr double kTurnToleranceDeg = 5;
constexpr double kTurnRateToleranceDegPerS = 10; // degrees per second
} // namespace DriveConstants
namespace AutoConstants {
const double kAutoDriveDistanceInches = 60;
const double kAutoBackupDistanceInches = 20;
const double kAutoDriveSpeed = .5;
constexpr double kAutoDriveDistanceInches = 60;
constexpr double kAutoBackupDistanceInches = 20;
constexpr double kAutoDriveSpeed = .5;
} // namespace AutoConstants
namespace OIConstants {
const int kDriverControllerPort = 1;
constexpr int kDriverControllerPort = 1;
} // namespace OIConstants