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[wpilib] Make ADIS IMU classes unit-safe (#3860)

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The gyro rate getters were removed since that data isn't available.
This commit is contained in:
Tyler Veness
2022-01-03 20:00:53 -08:00
committed by GitHub
parent 947f589916
commit a2510aaa0e
12 changed files with 381 additions and 666 deletions
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24
wpilibc/src/main/native/include/frc/simulation/ADIS16448_IMUSim.h
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@@ -48,27 +48,6 @@ class ADIS16448_IMUSim {
*/
void SetGyroAngleZ(units::degree_t angle);
/**
* Sets the X axis angular rate (CCW positive).
*
* @param rate The angular rate.
*/
void SetGyroRateX(units::degrees_per_second_t rate);
/**
* Sets the Y axis angular rate (CCW positive).
*
* @param rate The angular rate.
*/
void SetGyroRateY(units::degrees_per_second_t rate);
/**
* Sets the Z axis angular rate (CCW positive).
*
* @param rate The angular rate.
*/
void SetGyroRateZ(units::degrees_per_second_t rate);
/**
* Sets the X axis acceleration.
*
@@ -94,9 +73,6 @@ class ADIS16448_IMUSim {
hal::SimDouble m_simGyroAngleX;
hal::SimDouble m_simGyroAngleY;
hal::SimDouble m_simGyroAngleZ;
hal::SimDouble m_simGyroRateX;
hal::SimDouble m_simGyroRateY;
hal::SimDouble m_simGyroRateZ;
hal::SimDouble m_simAccelX;
hal::SimDouble m_simAccelY;
hal::SimDouble m_simAccelZ;

24
wpilibc/src/main/native/include/frc/simulation/ADIS16470_IMUSim.h
View File

@@ -48,27 +48,6 @@ class ADIS16470_IMUSim {
*/
void SetGyroAngleZ(units::degree_t angle);
/**
* Sets the X axis angular rate (CCW positive).
*
* @param rate The angular rate.
*/
void SetGyroRateX(units::degrees_per_second_t rate);
/**
* Sets the Y axis angular rate (CCW positive).
*
* @param rate The angular rate.
*/
void SetGyroRateY(units::degrees_per_second_t rate);
/**
* Sets the Z axis angular rate (CCW positive).
*
* @param rate The angular rate.
*/
void SetGyroRateZ(units::degrees_per_second_t rate);
/**
* Sets the X axis acceleration.
*
@@ -94,9 +73,6 @@ class ADIS16470_IMUSim {
hal::SimDouble m_simGyroAngleX;
hal::SimDouble m_simGyroAngleY;
hal::SimDouble m_simGyroAngleZ;
hal::SimDouble m_simGyroRateX;
hal::SimDouble m_simGyroRateY;
hal::SimDouble m_simGyroRateZ;
hal::SimDouble m_simAccelX;
hal::SimDouble m_simAccelY;
hal::SimDouble m_simAccelZ;