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Improve const correctness.

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See https://usfirst.collab.net/sf/tracker/do/viewArtifact/projects.wpilib/tracker.4_defects/artf4148

Change-Id: I47b0d5a91fd49e47e2c7348b0705e998ec815682
This commit is contained in:
Tyler Veness
2015-06-19 17:23:54 -07:00
parent c6b790cadd
commit 5598445a67
172 changed files with 1165 additions and 1140 deletions
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80
wpilibc/wpilibC++Devices/src/CANTalon.cpp
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@@ -76,7 +76,7 @@ void CANTalon::PIDWrite(float output)
*
* @return The current sensor value of the Talon.
*/
float CANTalon::Get()
float CANTalon::Get() const
{
int value;
switch(m_controlMode) {
@@ -184,7 +184,7 @@ void CANTalon::EnableControl() {
/**
* @return Whether the Talon is currently enabled.
*/
bool CANTalon::IsControlEnabled() {
bool CANTalon::IsControlEnabled() const {
return m_controlEnabled;
}
@@ -322,7 +322,7 @@ void CANTalon::SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs)
* @return double proportional constant for current profile.
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetP()
double CANTalon::GetP() const
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_P : CanTalonSRX::eProfileParamSlot0_P;
// Update the info in m_impl.
@@ -343,7 +343,7 @@ double CANTalon::GetP()
* TODO documentation (see CANJaguar.cpp)
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetI()
double CANTalon::GetI() const
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_I : CanTalonSRX::eProfileParamSlot0_I;
// Update the info in m_impl.
@@ -365,7 +365,7 @@ double CANTalon::GetI()
* TODO documentation (see CANJaguar.cpp)
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetD()
double CANTalon::GetD() const
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_D : CanTalonSRX::eProfileParamSlot0_D;
// Update the info in m_impl.
@@ -386,7 +386,7 @@ double CANTalon::GetD()
*
* @see SelectProfileSlot to choose between the two sets of gains.
*/
double CANTalon::GetF()
double CANTalon::GetF() const
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_F : CanTalonSRX::eProfileParamSlot0_F;
// Update the info in m_impl.
@@ -406,7 +406,7 @@ double CANTalon::GetF()
/**
* @see SelectProfileSlot to choose between the two sets of gains.
*/
int CANTalon::GetIzone()
int CANTalon::GetIzone() const
{
CanTalonSRX::param_t param = m_profile ? CanTalonSRX::eProfileParamSlot1_IZone: CanTalonSRX::eProfileParamSlot0_IZone;
// Update the info in m_impl.
@@ -427,7 +427,7 @@ int CANTalon::GetIzone()
/**
* @return the current setpoint; ie, whatever was last passed to Set().
*/
double CANTalon::GetSetpoint() {
double CANTalon::GetSetpoint() const {
return m_setPoint;
}
@@ -436,7 +436,7 @@ double CANTalon::GetSetpoint() {
*
* @return The input voltage in volts.
*/
float CANTalon::GetBusVoltage()
float CANTalon::GetBusVoltage() const
{
double voltage;
CTR_Code status = m_impl->GetBatteryV(voltage);
@@ -449,7 +449,7 @@ float CANTalon::GetBusVoltage()
/**
* @return The voltage being output by the Talon, in Volts.
*/
float CANTalon::GetOutputVoltage()
float CANTalon::GetOutputVoltage() const
{
int throttle11;
CTR_Code status = m_impl->GetAppliedThrottle(throttle11);
@@ -464,7 +464,7 @@ float CANTalon::GetOutputVoltage()
/**
* Returns the current going through the Talon, in Amperes.
*/
float CANTalon::GetOutputCurrent()
float CANTalon::GetOutputCurrent() const
{
double current;
@@ -479,7 +479,7 @@ float CANTalon::GetOutputCurrent()
/**
* Returns temperature of Talon, in degrees Celsius.
*/
float CANTalon::GetTemperature()
float CANTalon::GetTemperature() const
{
double temp;
@@ -505,7 +505,7 @@ void CANTalon::SetPosition(double pos)
* When using an analog encoder (wrapping around 1023 => 0 is possible) the units are still 3.3V per 1023 units.
* When using quadrature, each unit is a quadrature edge (4X) mode.
*/
double CANTalon::GetPosition()
double CANTalon::GetPosition() const
{
int postition;
@@ -533,7 +533,7 @@ void CANTalon::SetSensorDirection(bool reverseSensor)
*
* @return the difference between the setpoint and the sensor value.
*/
int CANTalon::GetClosedLoopError() {
int CANTalon::GetClosedLoopError() const {
int error;
CTR_Code status = m_impl->GetCloseLoopErr(error);
if(status != CTR_OKAY) {
@@ -557,7 +557,7 @@ int CANTalon::GetClosedLoopError() {
* An example speed of 200 would then equate to 20% of a rotation per 100ms,
* or 10 rotations per second.
*/
double CANTalon::GetSpeed()
double CANTalon::GetSpeed() const
{
int speed;
// TODO convert from int to appropriate units (or at least document it).
@@ -577,7 +577,7 @@ double CANTalon::GetSpeed()
* the analog pin of the Talon. The upper 14 bits
* tracks the overflows and underflows (continuous sensor).
*/
int CANTalon::GetAnalogIn()
int CANTalon::GetAnalogIn() const
{
int position;
CTR_Code status = m_impl->GetAnalogInWithOv(position);
@@ -592,7 +592,7 @@ int CANTalon::GetAnalogIn()
*
* @returns The ADC (0 - 1023) on analog pin of the Talon.
*/
int CANTalon::GetAnalogInRaw()
int CANTalon::GetAnalogInRaw() const
{
return GetAnalogIn() & 0x3FF;
}
@@ -602,7 +602,7 @@ int CANTalon::GetAnalogInRaw()
*
* @returns The value (0 - 1023) on the analog pin of the Talon.
*/
int CANTalon::GetAnalogInVel()
int CANTalon::GetAnalogInVel() const
{
int vel;
CTR_Code status = m_impl->GetAnalogInVel(vel);
@@ -618,7 +618,7 @@ int CANTalon::GetAnalogInVel()
*
* @returns The value (0 - 1023) on the analog pin of the Talon.
*/
int CANTalon::GetEncPosition()
int CANTalon::GetEncPosition() const
{
int position;
CTR_Code status = m_impl->GetEncPosition(position);
@@ -634,7 +634,7 @@ int CANTalon::GetEncPosition()
*
* @returns The value (0 - 1023) on the analog pin of the Talon.
*/
int CANTalon::GetEncVel()
int CANTalon::GetEncVel() const
{
int vel;
CTR_Code status = m_impl->GetEncVel(vel);
@@ -646,7 +646,7 @@ int CANTalon::GetEncVel()
/**
* @return IO level of QUADA pin.
*/
int CANTalon::GetPinStateQuadA()
int CANTalon::GetPinStateQuadA() const
{
int retval;
CTR_Code status = m_impl->GetQuadApin(retval);
@@ -658,7 +658,7 @@ int CANTalon::GetPinStateQuadA()
/**
* @return IO level of QUADB pin.
*/
int CANTalon::GetPinStateQuadB()
int CANTalon::GetPinStateQuadB() const
{
int retval;
CTR_Code status = m_impl->GetQuadBpin(retval);
@@ -670,7 +670,7 @@ int CANTalon::GetPinStateQuadB()
/**
* @return IO level of QUAD Index pin.
*/
int CANTalon::GetPinStateQuadIdx()
int CANTalon::GetPinStateQuadIdx() const
{
int retval;
CTR_Code status = m_impl->GetQuadIdxpin(retval);
@@ -683,7 +683,7 @@ int CANTalon::GetPinStateQuadIdx()
* @return '1' iff forward limit switch is closed, 0 iff switch is open.
* This function works regardless if limit switch feature is enabled.
*/
int CANTalon::IsFwdLimitSwitchClosed()
int CANTalon::IsFwdLimitSwitchClosed() const
{
int retval;
CTR_Code status = m_impl->GetLimitSwitchClosedFor(retval); /* rename this func, '1' => open, '0' => closed */
@@ -696,7 +696,7 @@ int CANTalon::IsFwdLimitSwitchClosed()
* @return '1' iff reverse limit switch is closed, 0 iff switch is open.
* This function works regardless if limit switch feature is enabled.
*/
int CANTalon::IsRevLimitSwitchClosed()
int CANTalon::IsRevLimitSwitchClosed() const
{
int retval;
CTR_Code status = m_impl->GetLimitSwitchClosedRev(retval); /* rename this func, '1' => open, '0' => closed */
@@ -709,7 +709,7 @@ int CANTalon::IsRevLimitSwitchClosed()
* Simple accessor for tracked rise eventso index pin.
* @return number of rising edges on idx pin.
*/
int CANTalon::GetNumberOfQuadIdxRises()
int CANTalon::GetNumberOfQuadIdxRises() const
{
int rises;
CTR_Code status = m_impl->GetEncIndexRiseEvents(rises); /* rename this func, '1' => open, '0' => closed */
@@ -731,7 +731,7 @@ void CANTalon::SetNumberOfQuadIdxRises(int rises)
/**
* TODO documentation (see CANJaguar.cpp)
*/
bool CANTalon::GetForwardLimitOK()
bool CANTalon::GetForwardLimitOK() const
{
int limSwit=0;
int softLim=0;
@@ -751,7 +751,7 @@ bool CANTalon::GetForwardLimitOK()
/**
* TODO documentation (see CANJaguar.cpp)
*/
bool CANTalon::GetReverseLimitOK()
bool CANTalon::GetReverseLimitOK() const
{
int limSwit=0;
int softLim=0;
@@ -771,7 +771,7 @@ bool CANTalon::GetReverseLimitOK()
/**
* TODO documentation (see CANJaguar.cpp)
*/
uint16_t CANTalon::GetFaults()
uint16_t CANTalon::GetFaults() const
{
uint16_t retval = 0;
int val;
@@ -821,7 +821,7 @@ uint16_t CANTalon::GetFaults()
return retval;
}
uint16_t CANTalon::GetStickyFaults()
uint16_t CANTalon::GetStickyFaults() const
{
uint16_t retval = 0;
int val;
@@ -913,7 +913,7 @@ void CANTalon::SetCloseLoopRampRate(double rampRate)
/**
* @return The version of the firmware running on the Talon
*/
uint32_t CANTalon::GetFirmwareVersion()
uint32_t CANTalon::GetFirmwareVersion() const
{
int firmwareVersion;
CTR_Code status = m_impl->RequestParam(CanTalonSRX::eFirmVers);
@@ -937,7 +937,7 @@ uint32_t CANTalon::GetFirmwareVersion()
/**
* @return The accumulator for I gain.
*/
int CANTalon::GetIaccum()
int CANTalon::GetIaccum() const
{
CTR_Code status = m_impl->RequestParam(CanTalonSRX::ePidIaccum);
if(status != CTR_OKAY) {
@@ -987,7 +987,7 @@ void CANTalon::ConfigNeutralMode(NeutralMode mode)
/**
* @return nonzero if brake is enabled during neutral. Zero if coast is enabled during neutral.
*/
int CANTalon::GetBrakeEnableDuringNeutral()
int CANTalon::GetBrakeEnableDuringNeutral() const
{
int brakeEn = 0;
CTR_Code status = m_impl->GetBrakeIsEnabled(brakeEn);
@@ -1217,7 +1217,7 @@ void CANTalon::SetControlMode(CANSpeedController::ControlMode mode)
/**
* TODO documentation (see CANJaguar.cpp)
*/
CANSpeedController::ControlMode CANTalon::GetControlMode()
CANSpeedController::ControlMode CANTalon::GetControlMode() const
{
return m_controlMode;
}
@@ -1227,17 +1227,17 @@ void CANTalon::SetExpiration(float timeout)
m_safetyHelper->SetExpiration(timeout);
}
float CANTalon::GetExpiration()
float CANTalon::GetExpiration() const
{
return m_safetyHelper->GetExpiration();
}
bool CANTalon::IsAlive()
bool CANTalon::IsAlive() const
{
return m_safetyHelper->IsAlive();
}
bool CANTalon::IsSafetyEnabled()
bool CANTalon::IsSafetyEnabled() const
{
return m_safetyHelper->IsSafetyEnabled();
}
@@ -1247,7 +1247,7 @@ void CANTalon::SetSafetyEnabled(bool enabled)
m_safetyHelper->SetSafetyEnabled(enabled);
}
void CANTalon::GetDescription(char *desc)
void CANTalon::GetDescription(char *desc) const
{
sprintf(desc, "CANTalon ID %d", m_deviceNumber);
}
@@ -1292,7 +1292,7 @@ void CANTalon::StopLiveWindowMode()
}
}
std::string CANTalon::GetSmartDashboardType()
std::string CANTalon::GetSmartDashboardType() const
{
return "Speed Controller";
}
@@ -1303,7 +1303,7 @@ void CANTalon::InitTable(ITable *subTable)
UpdateTable();
}
ITable * CANTalon::GetTable()
ITable * CANTalon::GetTable() const
{
return m_table;
}