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Reformat for recent commits (#54)

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This commit is contained in:
Peter Johnson
2016-05-24 22:16:21 -07:00
parent 3af8e7e9fd
commit 565a125dad
3 changed files with 18 additions and 20 deletions
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32
wpilibc/sim/src/RobotDrive.cpp
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@@ -507,13 +507,13 @@ void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation,
Normalize(wheelSpeeds);
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] *
m_invertedMotors[kFrontLeftMotor] * m_maxOutput);
m_invertedMotors[kFrontLeftMotor] * m_maxOutput);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] *
m_invertedMotors[kFrontRightMotor] * m_maxOutput);
m_invertedMotors[kFrontRightMotor] * m_maxOutput);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] *
m_invertedMotors[kRearLeftMotor] * m_maxOutput);
m_invertedMotors[kRearLeftMotor] * m_maxOutput);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] *
m_invertedMotors[kRearRightMotor] * m_maxOutput);
m_invertedMotors[kRearRightMotor] * m_maxOutput);
// FIXME: m_safetyHelper->Feed();
}
@@ -557,13 +557,13 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction,
Normalize(wheelSpeeds);
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] *
m_invertedMotors[kFrontLeftMotor] * m_maxOutput);
m_invertedMotors[kFrontLeftMotor] * m_maxOutput);
m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] *
m_invertedMotors[kFrontRightMotor] * m_maxOutput);
m_invertedMotors[kFrontRightMotor] * m_maxOutput);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] *
m_invertedMotors[kRearLeftMotor] * m_maxOutput);
m_invertedMotors[kRearLeftMotor] * m_maxOutput);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] *
m_invertedMotors[kRearRightMotor] * m_maxOutput);
m_invertedMotors[kRearRightMotor] * m_maxOutput);
// FIXME: m_safetyHelper->Feed();
}
@@ -599,16 +599,16 @@ void RobotDrive::SetLeftRightMotorOutputs(float leftOutput, float rightOutput) {
wpi_assert(m_rearLeftMotor != nullptr && m_rearRightMotor != nullptr);
if (m_frontLeftMotor != nullptr)
m_frontLeftMotor->Set(
Limit(leftOutput) * m_invertedMotors[kFrontLeftMotor] * m_maxOutput);
m_rearLeftMotor->Set(
Limit(leftOutput) * m_invertedMotors[kRearLeftMotor] * m_maxOutput);
m_frontLeftMotor->Set(Limit(leftOutput) *
m_invertedMotors[kFrontLeftMotor] * m_maxOutput);
m_rearLeftMotor->Set(Limit(leftOutput) * m_invertedMotors[kRearLeftMotor] *
m_maxOutput);
if (m_frontRightMotor != nullptr)
m_frontRightMotor->Set(
-Limit(rightOutput) * m_invertedMotors[kFrontRightMotor] * m_maxOutput);
m_rearRightMotor->Set(
-Limit(rightOutput) * m_invertedMotors[kRearRightMotor] * m_maxOutput);
m_frontRightMotor->Set(-Limit(rightOutput) *
m_invertedMotors[kFrontRightMotor] * m_maxOutput);
m_rearRightMotor->Set(-Limit(rightOutput) *
m_invertedMotors[kRearRightMotor] * m_maxOutput);
// FIXME: m_safetyHelper->Feed();
}