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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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64
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
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@@ -28,30 +28,30 @@
*/
namespace DriveConstants {
constexpr int kFrontLeftMotorPort = 0;
constexpr int kRearLeftMotorPort = 1;
constexpr int kFrontRightMotorPort = 2;
constexpr int kRearRightMotorPort = 3;
inline constexpr int kFrontLeftMotorPort = 0;
inline constexpr int kRearLeftMotorPort = 1;
inline constexpr int kFrontRightMotorPort = 2;
inline constexpr int kRearRightMotorPort = 3;
constexpr int kFrontLeftEncoderPorts[]{0, 1};
constexpr int kRearLeftEncoderPorts[]{2, 3};
constexpr int kFrontRightEncoderPorts[]{4, 5};
constexpr int kRearRightEncoderPorts[]{6, 7};
inline constexpr int kFrontLeftEncoderPorts[]{0, 1};
inline constexpr int kRearLeftEncoderPorts[]{2, 3};
inline constexpr int kFrontRightEncoderPorts[]{4, 5};
inline constexpr int kRearRightEncoderPorts[]{6, 7};
constexpr bool kFrontLeftEncoderReversed = false;
constexpr bool kRearLeftEncoderReversed = true;
constexpr bool kFrontRightEncoderReversed = false;
constexpr bool kRearRightEncoderReversed = true;
inline constexpr bool kFrontLeftEncoderReversed = false;
inline constexpr bool kRearLeftEncoderReversed = true;
inline constexpr bool kFrontRightEncoderReversed = false;
inline constexpr bool kRearRightEncoderReversed = true;
constexpr auto kTrackWidth =
inline constexpr auto kTrackWidth =
0.5_m; // Distance between centers of right and left wheels on robot
constexpr auto kWheelBase =
inline constexpr auto kWheelBase =
0.7_m; // Distance between centers of front and back wheels on robot
extern const frc::MecanumDriveKinematics kDriveKinematics;
constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterMeters = 0.15;
constexpr double kEncoderDistancePerPulse =
inline constexpr int kEncoderCPR = 1024;
inline constexpr double kWheelDiameterMeters = 0.15;
inline constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * std::numbers::pi) /
static_cast<double>(kEncoderCPR);
@@ -60,26 +60,26 @@ constexpr double kEncoderDistancePerPulse =
// These characterization values MUST be determined either experimentally or
// theoretically for *your* robot's drive. The SysId tool provides a convenient
// method for obtaining these values for your robot.
constexpr auto ks = 1_V;
constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
inline constexpr auto ks = 1_V;
inline constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
inline constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
// Example value only - as above, this must be tuned for your drive!
constexpr double kPFrontLeftVel = 0.5;
constexpr double kPRearLeftVel = 0.5;
constexpr double kPFrontRightVel = 0.5;
constexpr double kPRearRightVel = 0.5;
inline constexpr double kPFrontLeftVel = 0.5;
inline constexpr double kPRearLeftVel = 0.5;
inline constexpr double kPFrontRightVel = 0.5;
inline constexpr double kPRearRightVel = 0.5;
} // namespace DriveConstants
namespace AutoConstants {
constexpr auto kMaxSpeed = 3_mps;
constexpr auto kMaxAcceleration = 3_mps_sq;
constexpr auto kMaxAngularSpeed = 3_rad_per_s;
constexpr auto kMaxAngularAcceleration = 3_rad_per_s_sq;
inline constexpr auto kMaxSpeed = 3_mps;
inline constexpr auto kMaxAcceleration = 3_mps_sq;
inline constexpr auto kMaxAngularSpeed = 3_rad_per_s;
inline constexpr auto kMaxAngularAcceleration = 3_rad_per_s_sq;
constexpr double kPXController = 0.5;
constexpr double kPYController = 0.5;
constexpr double kPThetaController = 0.5;
inline constexpr double kPXController = 0.5;
inline constexpr double kPYController = 0.5;
inline constexpr double kPThetaController = 0.5;
extern const frc::TrapezoidProfile<units::radians>::Constraints
kThetaControllerConstraints;
@@ -87,5 +87,5 @@ extern const frc::TrapezoidProfile<units::radians>::Constraints
} // namespace AutoConstants
namespace OIConstants {
constexpr int kDriverControllerPort = 0;
inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants