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Clean up unit UDL usage (#6961)

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This commit is contained in:
Tyler Veness
2024-08-14 10:44:00 -07:00
committed by GitHub
parent 70fa41c69e
commit 8e0d9ac805
25 changed files with 57 additions and 77 deletions
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16
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h
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@@ -24,7 +24,7 @@ inline constexpr bool kLeftEncoderReversed = false;
inline constexpr bool kRightEncoderReversed = true;
inline constexpr double kEncoderCPR = 1024;
inline constexpr units::meter_t kWheelDiameter = 6.0_in;
inline constexpr units::meter_t kWheelDiameter = 6_in;
inline constexpr double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
((kWheelDiameter * std::numbers::pi) / kEncoderCPR).value();
@@ -45,9 +45,8 @@ namespace ShooterConstants {
inline constexpr int kEncoderPorts[]{4, 5};
inline constexpr bool kEncoderReversed = false;
inline constexpr double kEncoderCPR = 1024;
inline constexpr double kEncoderDistancePerPulse =
// Distance units will be rotations
1.0 / kEncoderCPR;
// Distance units will be rotations
inline constexpr double kEncoderDistancePerPulse = 1.0 / kEncoderCPR;
inline constexpr int kShooterMotorPort = 4;
inline constexpr int kFeederMotorPort = 5;
@@ -61,9 +60,8 @@ inline constexpr auto kShooterTolerance = 50_tps;
inline constexpr double kP = 1;
inline constexpr units::volt_t kS = 0.05_V;
inline constexpr auto kV =
// Should have value 12V at free speed...
12.0_V / kShooterFree;
// Should have value 12V at free speed
inline constexpr auto kV = 12_V / kShooterFree;
inline constexpr double kFeederSpeed = 0.5;
} // namespace ShooterConstants
@@ -73,7 +71,7 @@ inline constexpr int kDriverControllerPort = 0;
} // namespace OIConstants
namespace AutoConstants {
constexpr units::second_t kTimeout = 3.0_s;
constexpr units::meter_t kDriveDistance = 2.0_m;
constexpr units::second_t kTimeout = 3_s;
constexpr units::meter_t kDriveDistance = 2_m;
constexpr double kDriveSpeed = 0.5;
} // namespace AutoConstants