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[examples] Replace usages of SIMULATION macro with constexpr if (#6899)

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This commit is contained in:
Ryan Blue
2024-08-03 11:14:17 -04:00
committed by GitHub
parent 1a0efcf948
commit 5a6dd02ce9
5 changed files with 42 additions and 40 deletions
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14
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp
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@@ -4,6 +4,8 @@
#include "commands/CloseClaw.h"
#include <frc/RobotBase.h>
#include "Robot.h"
CloseClaw::CloseClaw(Claw& claw) : m_claw(&claw) {
@@ -23,10 +25,10 @@ bool CloseClaw::IsFinished() {
// Called once after isFinished returns true
void CloseClaw::End(bool) {
// NOTE: Doesn't stop in simulation due to lower friction causing the can to
// fall out
// + there is no need to worry about stalling the motor or crushing the can.
#ifndef SIMULATION
m_claw->Stop();
#endif
// NOTE: Doesn't stop in simulation due to lower friction causing the can to
// fall out + there is no need to worry about stalling the motor or crushing
// the can.
if constexpr (frc::RobotBase::IsSimulation()) {
m_claw->Stop();
}
}

30
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
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@@ -7,6 +7,7 @@
#include <numbers>
#include <frc/Joystick.h>
#include <frc/RobotBase.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <units/length.h>
@@ -22,21 +23,20 @@ Drivetrain::Drivetrain() {
// gearbox is constructed, you might have to invert the left side instead.
m_frontRight.SetInverted(true);
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns
// per tick in the real world, but the simulated encoders
// simulate 360 tick encoders. This if statement allows for the
// real robot to handle this difference in devices.
#ifndef SIMULATION
m_leftEncoder.SetDistancePerPulse(0.042);
m_rightEncoder.SetDistancePerPulse(0.042);
#else
// Circumference = diameter * pi. 360 tick simulated encoders.
m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
std::numbers::pi / 360.0);
m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
std::numbers::pi / 360.0);
#endif
// Encoders may measure differently in the real world and in simulation. In
// this example the robot moves 0.042 barleycorns per tick in the real world,
// but the simulated encoders simulate 360 tick encoders. This if statement
// allows for the real robot to handle this difference in devices.
if constexpr (frc::RobotBase::IsSimulation()) {
m_leftEncoder.SetDistancePerPulse(0.042);
m_rightEncoder.SetDistancePerPulse(0.042);
} else {
// Circumference = diameter * pi. 360 tick simulated encoders.
m_leftEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
std::numbers::pi / 360.0);
m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.value() *
std::numbers::pi / 360.0);
}
SetName("Drivetrain");
// Let's show everything on the LiveWindow
AddChild("Front_Left Motor", &m_frontLeft);

8
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
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@@ -10,9 +10,11 @@
Elevator::Elevator()
: frc2::PIDSubsystem{frc::PIDController{kP_real, kI_real, 0}} {
#ifdef SIMULATION // Check for simulation and update PID values
GetPIDController()->SetPID(kP_simulation, kI_simulation, 0, 0);
#endif
if constexpr (frc::RobotBase::IsSimulation()) {
// Check for simulation and update PID values
GetController().SetPID(kP_simulation, kI_simulation, 0);
}
m_controller.SetTolerance(0.005);
SetName("Elevator");

15
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
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@@ -5,6 +5,7 @@
#pragma once
#include <frc/AnalogPotentiometer.h>
#include <frc/RobotBase.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/PIDSubsystem.h>
@@ -44,14 +45,12 @@ class Elevator : public frc2::PIDSubsystem {
private:
frc::PWMSparkMax m_motor{5};
// Conversion value of potentiometer varies between the real world and
// simulation
#ifndef SIMULATION
frc::AnalogPotentiometer m_pot{2, -2.0 / 5};
#else
frc::AnalogPotentiometer m_pot{2}; // Defaults to meters
#endif
// Conversion value of potentiometer varies between the real world and
// simulation
frc::AnalogPotentiometer m_pot =
frc::RobotBase::IsReal()
? frc::AnalogPotentiometer{2, -2.0 / 5}
: frc::AnalogPotentiometer{2}; // Defaults to meters
static constexpr double kP_real = 4;
static constexpr double kI_real = 0.07;

15
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
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@@ -5,6 +5,7 @@
#pragma once
#include <frc/AnalogPotentiometer.h>
#include <frc/RobotBase.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/PIDSubsystem.h>
@@ -41,14 +42,12 @@ class Wrist : public frc2::PIDSubsystem {
private:
frc::PWMSparkMax m_motor{6};
// Conversion value of potentiometer varies between the real world and
// simulation
#ifndef SIMULATION
frc::AnalogPotentiometer m_pot{3, -270.0 / 5};
#else
frc::AnalogPotentiometer m_pot{3}; // Defaults to degrees
#endif
// Conversion value of potentiometer varies between the real world and
// simulation
frc::AnalogPotentiometer m_pot =
frc::RobotBase::IsReal()
? frc::AnalogPotentiometer{3, -270.0 / 5}
: frc::AnalogPotentiometer{3}; // Defaults to degrees
static constexpr double kP = 1;
};