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[wpilib] Replace unit .to<double>() with .value() (#8548)

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This is consistent with the rest of the library. I left instances alone
which intended a specific typecast.
This commit is contained in:
Tyler Veness
2026-01-12 19:10:10 -08:00
committed by GitHub
parent 00fa8361dd
commit 7e1260b003
4 changed files with 13 additions and 13 deletions
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2
wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp
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@@ -99,7 +99,7 @@ void ExpansionHubMotor::SetPercentagePower(double power) {
void ExpansionHubMotor::SetVoltage(wpi::units::volt_t voltage) {
m_modePublisher.Set(kVoltageMode);
m_setpointPublisher.Set(voltage.to<double>());
m_setpointPublisher.Set(voltage.value());
}
void ExpansionHubMotor::SetPositionSetpoint(double setpoint) {

4
wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubServo.cpp
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@@ -76,7 +76,7 @@ void ExpansionHubServo::SetAngle(wpi::units::degree_t angle) {
}
void ExpansionHubServo::SetPulseWidth(wpi::units::microsecond_t pulseWidth) {
m_pulseWidthPublisher.Set(pulseWidth.to<double>());
m_pulseWidthPublisher.Set(pulseWidth.value());
}
void ExpansionHubServo::SetEnabled(bool enabled) {
@@ -84,7 +84,7 @@ void ExpansionHubServo::SetEnabled(bool enabled) {
}
void ExpansionHubServo::SetFramePeriod(wpi::units::microsecond_t framePeriod) {
m_framePeriodPublisher.Set(framePeriod.to<double>());
m_framePeriodPublisher.Set(framePeriod.value());
}
wpi::units::microsecond_t ExpansionHubServo::GetFullRangeScaleFactor() {

12
wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp
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@@ -148,12 +148,12 @@ void PWMMotorController::SetSpeed(double speed) {
if (speed == 0.0) {
rawValue = m_centerPwm;
} else if (speed > 0.0) {
rawValue = wpi::units::microsecond_t{static_cast<double>(std::lround(
(speed * GetPositiveScaleFactor()).to<double>()))} +
rawValue = wpi::units::microsecond_t{static_cast<double>(
std::lround((speed * GetPositiveScaleFactor()).value()))} +
GetMinPositivePwm();
} else {
rawValue = wpi::units::microsecond_t{static_cast<double>(std::lround(
(speed * GetNegativeScaleFactor()).to<double>()))} +
rawValue = wpi::units::microsecond_t{static_cast<double>(
std::lround((speed * GetNegativeScaleFactor()).value()))} +
GetMaxNegativePwm();
}
@@ -171,10 +171,10 @@ double PWMMotorController::GetSpeed() const {
return -1.0;
} else if (rawValue > GetMinPositivePwm()) {
return ((rawValue - GetMinPositivePwm()) / GetPositiveScaleFactor())
.to<double>();
.value();
} else if (rawValue < GetMaxNegativePwm()) {
return ((rawValue - GetMaxNegativePwm()) / GetNegativeScaleFactor())
.to<double>();
.value();
} else {
return 0.0;
}