Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

SCRIPT namespace replacements

Browse Source
This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp
View File

@@ -12,7 +12,7 @@
#include "wpi/util/sendable/SendableBuilder.hpp"
#include "wpi/util/sendable/SendableRegistry.hpp"
using namespace frc;
using namespace wpi;
SharpIR SharpIR::GP2Y0A02YK0F(int channel) {
return SharpIR(channel, 62.28, -1.092, 20_cm, 150_cm);
@@ -30,13 +30,13 @@ SharpIR SharpIR::GP2Y0A51SK0F(int channel) {
return SharpIR(channel, 5.2819, -1.161, 2_cm, 15_cm);
}
SharpIR::SharpIR(int channel, double a, double b, units::meter_t min,
units::meter_t max)
SharpIR::SharpIR(int channel, double a, double b, wpi::units::meter_t min,
wpi::units::meter_t max)
: m_sensor(channel), m_A(a), m_B(b), m_min(min), m_max(max) {
HAL_ReportUsage("IO", channel, "SharpIR");
wpi::SendableRegistry::Add(this, "SharpIR", channel);
wpi::util::SendableRegistry::Add(this, "SharpIR", channel);
m_simDevice = hal::SimDevice("SharpIR", m_sensor.GetChannel());
m_simDevice = wpi::hal::SimDevice("SharpIR", m_sensor.GetChannel());
if (m_simDevice) {
m_simRange = m_simDevice.CreateDouble("Range (m)", false, 0.0);
m_sensor.SetSimDevice(m_simDevice);
@@ -47,19 +47,19 @@ int SharpIR::GetChannel() const {
return m_sensor.GetChannel();
}
units::meter_t SharpIR::GetRange() const {
wpi::units::meter_t SharpIR::GetRange() const {
if (m_simRange) {
return std::clamp(units::meter_t{m_simRange.Get()}, m_min, m_max);
return std::clamp(wpi::units::meter_t{m_simRange.Get()}, m_min, m_max);
} else {
// Don't allow zero/negative values
auto v = std::max(m_sensor.GetVoltage(), 0.00001);
return std::clamp(units::meter_t{m_A * std::pow(v, m_B) * 1e-2}, m_min,
return std::clamp(wpi::units::meter_t{m_A * std::pow(v, m_B) * 1e-2}, m_min,
m_max);
}
}
void SharpIR::InitSendable(wpi::SendableBuilder& builder) {
void SharpIR::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("Ultrasonic");
builder.AddDoubleProperty(
"Value", [=, this] { return GetRange().value(); }, nullptr);