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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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28
wpilibcIntegrationTests/src/MotorEncoderTest.cpp
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@@ -73,7 +73,7 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
}
void Reset() {
m_speedController->Set(0.0f);
m_speedController->Set(0.0);
m_encoder->Reset();
}
};
@@ -101,12 +101,12 @@ TEST_P(MotorEncoderTest, Decrement) {
Reset();
/* Drive the speed controller briefly to move the encoder */
m_speedController->Set(-0.2f);
m_speedController->Set(-0.2);
Wait(kMotorTime);
m_speedController->Set(0.0f);
m_speedController->Set(0.0);
/* The encoder should be positive now */
EXPECT_LT(m_encoder->Get(), 0.0f)
EXPECT_LT(m_encoder->Get(), 0.0)
<< "Encoder should have decremented after the motor moved";
}
@@ -116,15 +116,15 @@ TEST_P(MotorEncoderTest, Decrement) {
TEST_P(MotorEncoderTest, ClampSpeed) {
Reset();
m_speedController->Set(2.0f);
m_speedController->Set(2.0);
Wait(kMotorTime);
EXPECT_FLOAT_EQ(1.0f, m_speedController->Get());
EXPECT_FLOAT_EQ(1.0, m_speedController->Get());
m_speedController->Set(-2.0f);
m_speedController->Set(-2.0);
Wait(kMotorTime);
EXPECT_FLOAT_EQ(-1.0f, m_speedController->Get());
EXPECT_FLOAT_EQ(-1.0, m_speedController->Get());
}
/**
@@ -134,9 +134,9 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
Reset();
double goal = 1000;
m_encoder->SetPIDSourceType(PIDSourceType::kDisplacement);
PIDController pid(0.001f, 0.0005f, 0.0f, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(50.0f);
pid.SetOutputRange(-0.2f, 0.2f);
PIDController pid(0.001, 0.0005, 0.0, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(50.0);
pid.SetOutputRange(-0.2, 0.2);
pid.SetSetpoint(goal);
/* 10 seconds should be plenty time to get to the setpoint */
@@ -158,10 +158,10 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
Reset();
m_encoder->SetPIDSourceType(PIDSourceType::kRate);
PIDController pid(1e-5, 0.0f, 3e-5, 8e-5, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(200.0f);
PIDController pid(1e-5, 0.0, 3e-5, 8e-5, m_encoder, m_speedController);
pid.SetAbsoluteTolerance(200.0);
pid.SetToleranceBuffer(50);
pid.SetOutputRange(-0.3f, 0.3f);
pid.SetOutputRange(-0.3, 0.3);
pid.SetSetpoint(600);
/* 10 seconds should be plenty time to get to the setpoint */