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[wpiutil] Deprecate wpi::math constants in favor of wpi::numbers (#3383)

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The constants were moved from std::math to std::numbers before
ratification in C++20.
This commit is contained in:
Tyler Veness
2021-05-26 00:09:36 -07:00
committed by GitHub
parent 393bf23c0c
commit a238cec12b
73 changed files with 322 additions and 284 deletions
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7
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
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@@ -12,7 +12,7 @@
#include <units/time.h>
#include <units/velocity.h>
#include <units/voltage.h>
#include <wpi/math>
#include <wpi/numbers>
#pragma once
@@ -77,11 +77,12 @@ constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterMeters = .15;
constexpr double kDriveEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * wpi::math::pi) / static_cast<double>(kEncoderCPR);
(kWheelDiameterMeters * wpi::numbers::pi) /
static_cast<double>(kEncoderCPR);
constexpr double kTurningEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(wpi::math::pi * 2) / static_cast<double>(kEncoderCPR);
(wpi::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
constexpr double kPModuleTurningController = 1;
constexpr double kPModuleDriveController = 1;

6
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
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@@ -11,7 +11,7 @@
#include <frc/kinematics/SwerveModuleState.h>
#include <frc/motorcontrol/Spark.h>
#include <frc/trajectory/TrapezoidProfile.h>
#include <wpi/math>
#include <wpi/numbers>
#include "Constants.h"
@@ -37,11 +37,11 @@ class SwerveModule {
// meters per second squared.
static constexpr units::radians_per_second_t kModuleMaxAngularVelocity =
units::radians_per_second_t(wpi::math::pi); // radians per second
units::radians_per_second_t(wpi::numbers::pi); // radians per second
static constexpr units::unit_t<radians_per_second_squared_t>
kModuleMaxAngularAcceleration =
units::unit_t<radians_per_second_squared_t>(
wpi::math::pi * 2.0); // radians per second squared
wpi::numbers::pi * 2.0); // radians per second squared
frc::Spark m_driveMotor;
frc::Spark m_turningMotor;