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[wpilibcExamples] Add inline specifier to constexpr constants (#6049)

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This commit is contained in:
ncorrea210
2023-12-14 23:52:02 -05:00
committed by GitHub
parent 85c9ae6eff
commit 8798700cec
20 changed files with 362 additions and 362 deletions
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52
wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
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@@ -21,54 +21,54 @@
*/
namespace DriveConstants {
constexpr int kLeftMotor1Port = 0;
constexpr int kLeftMotor2Port = 1;
constexpr int kRightMotor1Port = 2;
constexpr int kRightMotor2Port = 3;
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;
inline constexpr int kRightMotor2Port = 3;
constexpr int kLeftEncoderPorts[]{0, 1};
constexpr int kRightEncoderPorts[]{2, 3};
constexpr bool kLeftEncoderReversed = false;
constexpr bool kRightEncoderReversed = true;
inline constexpr int kLeftEncoderPorts[]{0, 1};
inline constexpr int kRightEncoderPorts[]{2, 3};
inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterInches = 6;
constexpr double kEncoderDistancePerPulse =
inline constexpr int kEncoderCPR = 1024;
inline constexpr double kWheelDiameterInches = 6;
inline constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * std::numbers::pi) /
static_cast<double>(kEncoderCPR);
} // namespace DriveConstants
namespace ArmConstants {
constexpr int kMotorPort = 4;
inline constexpr int kMotorPort = 4;
constexpr double kP = 1;
inline constexpr double kP = 1;
// These are fake gains; in actuality these must be determined individually for
// each robot
constexpr auto kS = 1_V;
constexpr auto kG = 1_V;
constexpr auto kV = 0.5_V * 1_s / 1_rad;
constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
inline constexpr auto kS = 1_V;
inline constexpr auto kG = 1_V;
inline constexpr auto kV = 0.5_V * 1_s / 1_rad;
inline constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
constexpr auto kMaxVelocity = 3_rad_per_s;
constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
inline constexpr auto kMaxVelocity = 3_rad_per_s;
inline constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
constexpr int kEncoderPorts[]{4, 5};
constexpr int kEncoderPPR = 256;
constexpr auto kEncoderDistancePerPulse =
inline constexpr int kEncoderPorts[]{4, 5};
inline constexpr int kEncoderPPR = 256;
inline constexpr auto kEncoderDistancePerPulse =
2.0_rad * std::numbers::pi / kEncoderPPR;
// The offset of the arm from the horizontal in its neutral position,
// measured from the horizontal
constexpr auto kArmOffset = 0.5_rad;
inline constexpr auto kArmOffset = 0.5_rad;
} // namespace ArmConstants
namespace AutoConstants {
constexpr auto kAutoTimeoutSeconds = 12_s;
constexpr auto kAutoShootTimeSeconds = 7_s;
inline constexpr auto kAutoTimeoutSeconds = 12_s;
inline constexpr auto kAutoShootTimeSeconds = 7_s;
} // namespace AutoConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants