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Replaced floats with doubles (#355)

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This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
This commit is contained in:
Tyler Veness
2016-11-20 07:25:03 -08:00
committed by Peter Johnson
parent 7bcd243ec3
commit 69422dc063
129 changed files with 643 additions and 639 deletions
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51
wpilibc/sim/src/RobotDrive.cpp
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@@ -208,22 +208,22 @@ RobotDrive::RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
* radius r = -ln(curve)*w for a given value of curve and
* wheelbase w.
*/
void RobotDrive::Drive(float outputMagnitude, float curve) {
float leftOutput, rightOutput;
void RobotDrive::Drive(double outputMagnitude, double curve) {
double leftOutput, rightOutput;
static bool reported = false;
if (!reported) {
reported = true;
}
if (curve < 0) {
float value = std::log(-curve);
float ratio = (value - m_sensitivity) / (value + m_sensitivity);
double value = std::log(-curve);
double ratio = (value - m_sensitivity) / (value + m_sensitivity);
if (ratio == 0) ratio = .0000000001;
leftOutput = outputMagnitude / ratio;
rightOutput = outputMagnitude;
} else if (curve > 0) {
float value = std::log(curve);
float ratio = (value - m_sensitivity) / (value + m_sensitivity);
double value = std::log(curve);
double ratio = (value - m_sensitivity) / (value + m_sensitivity);
if (ratio == 0) ratio = .0000000001;
leftOutput = outputMagnitude;
rightOutput = outputMagnitude / ratio;
@@ -294,7 +294,7 @@ void RobotDrive::TankDrive(GenericHID& leftStick, int leftAxis,
* @param leftValue The value of the left stick.
* @param rightValue The value of the right stick.
*/
void RobotDrive::TankDrive(float leftValue, float rightValue,
void RobotDrive::TankDrive(double leftValue, double rightValue,
bool squaredInputs) {
static bool reported = false;
if (!reported) {
@@ -376,8 +376,8 @@ void RobotDrive::ArcadeDrive(GenericHID& stick, bool squaredInputs) {
void RobotDrive::ArcadeDrive(GenericHID* moveStick, int moveAxis,
GenericHID* rotateStick, int rotateAxis,
bool squaredInputs) {
float moveValue = moveStick->GetRawAxis(moveAxis);
float rotateValue = rotateStick->GetRawAxis(rotateAxis);
double moveValue = moveStick->GetRawAxis(moveAxis);
double rotateValue = rotateStick->GetRawAxis(rotateAxis);
ArcadeDrive(moveValue, rotateValue, squaredInputs);
}
@@ -401,8 +401,8 @@ void RobotDrive::ArcadeDrive(GenericHID* moveStick, int moveAxis,
void RobotDrive::ArcadeDrive(GenericHID& moveStick, int moveAxis,
GenericHID& rotateStick, int rotateAxis,
bool squaredInputs) {
float moveValue = moveStick.GetRawAxis(moveAxis);
float rotateValue = rotateStick.GetRawAxis(rotateAxis);
double moveValue = moveStick.GetRawAxis(moveAxis);
double rotateValue = rotateStick.GetRawAxis(rotateAxis);
ArcadeDrive(moveValue, rotateValue, squaredInputs);
}
@@ -416,7 +416,7 @@ void RobotDrive::ArcadeDrive(GenericHID& moveStick, int moveAxis,
* @param rotateValue The value to use for the rotate right/left
* @param squaredInputs If set, increases the sensitivity at low speeds
*/
void RobotDrive::ArcadeDrive(float moveValue, float rotateValue,
void RobotDrive::ArcadeDrive(double moveValue, double rotateValue,
bool squaredInputs) {
static bool reported = false;
if (!reported) {
@@ -424,8 +424,8 @@ void RobotDrive::ArcadeDrive(float moveValue, float rotateValue,
}
// local variables to hold the computed PWM values for the motors
float leftMotorOutput;
float rightMotorOutput;
double leftMotorOutput;
double rightMotorOutput;
moveValue = Limit(moveValue);
rotateValue = Limit(rotateValue);
@@ -485,8 +485,8 @@ void RobotDrive::ArcadeDrive(float moveValue, float rotateValue,
* @param gyroAngle The current angle reading from the gyro. Use this to
* implement field-oriented controls.
*/
void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation,
float gyroAngle) {
void RobotDrive::MecanumDrive_Cartesian(double x, double y, double rotation,
double gyroAngle) {
static bool reported = false;
if (!reported) {
reported = true;
@@ -535,8 +535,8 @@ void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation,
* @param rotation The rate of rotation for the robot that is completely
* independent of the magnitute or direction. [-1.0..1.0]
*/
void RobotDrive::MecanumDrive_Polar(float magnitude, float direction,
float rotation) {
void RobotDrive::MecanumDrive_Polar(double magnitude, double direction,
double rotation) {
static bool reported = false;
if (!reported) {
reported = true;
@@ -581,8 +581,8 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction,
* @param rotation The rate of rotation for the robot that is completely
* independent of the magnitude or direction. [-1.0..1.0]
*/
void RobotDrive::HolonomicDrive(float magnitude, float direction,
float rotation) {
void RobotDrive::HolonomicDrive(double magnitude, double direction,
double rotation) {
MecanumDrive_Polar(magnitude, direction, rotation);
}
@@ -596,7 +596,8 @@ void RobotDrive::HolonomicDrive(float magnitude, float direction,
* @param leftOutput The speed to send to the left side of the robot.
* @param rightOutput The speed to send to the right side of the robot.
*/
void RobotDrive::SetLeftRightMotorOutputs(float leftOutput, float rightOutput) {
void RobotDrive::SetLeftRightMotorOutputs(double leftOutput,
double rightOutput) {
wpi_assert(m_rearLeftMotor != nullptr && m_rearRightMotor != nullptr);
if (m_frontLeftMotor != nullptr)
@@ -617,7 +618,7 @@ void RobotDrive::SetLeftRightMotorOutputs(float leftOutput, float rightOutput) {
/**
* Limit motor values to the -1.0 to +1.0 range.
*/
float RobotDrive::Limit(float num) {
double RobotDrive::Limit(double num) {
if (num > 1.0) {
return 1.0;
}
@@ -682,7 +683,7 @@ void RobotDrive::SetInvertedMotor(MotorType motor, bool isInverted) {
* @param sensitivity Effectively sets the turning sensitivity (or turn radius
* for a given value)
*/
void RobotDrive::SetSensitivity(float sensitivity) {
void RobotDrive::SetSensitivity(double sensitivity) {
m_sensitivity = sensitivity;
}
@@ -695,11 +696,11 @@ void RobotDrive::SetSensitivity(float sensitivity) {
*/
void RobotDrive::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
void RobotDrive::SetExpiration(float timeout) {
void RobotDrive::SetExpiration(double timeout) {
// FIXME: m_safetyHelper->SetExpiration(timeout);
}
float RobotDrive::GetExpiration() const {
double RobotDrive::GetExpiration() const {
return -1; // FIXME: return m_safetyHelper->GetExpiration();
}