From a85e7693deac8648ca8cae2f50baccdf084e6f20 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Wed, 1 May 2024 09:02:18 -0700 Subject: [PATCH] [examples] Use UDL for turns (#6570) --- .../src/main/cpp/examples/SysId/include/Constants.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/SysId/include/Constants.h index a0e7728c10..79f6d44b36 100644 --- a/wpilibcExamples/src/main/cpp/examples/SysId/include/Constants.h +++ b/wpilibcExamples/src/main/cpp/examples/SysId/include/Constants.h @@ -48,7 +48,7 @@ inline constexpr std::array kEncoderPorts = {4, 5}; inline constexpr bool kEncoderReversed = false; inline constexpr int kEncoderCpr = 1024; inline constexpr units::turn_t kEncoderDistancePerPulse = - units::turn_t{1.0} / static_cast(kEncoderCpr); + 1_tr / static_cast(kEncoderCpr); inline constexpr int kShooterMotorPort = 4; inline constexpr int kFeederMotorPort = 5; @@ -61,7 +61,7 @@ inline constexpr double kP = 1.0; inline constexpr units::volt_t kS = 0.05_V; inline constexpr kv_unit_t kV = (12_V) / kShooterFreeSpeed; -inline constexpr ka_unit_t kA = 0_V * 1_s * 1_s / units::turn_t{1}; +inline constexpr ka_unit_t kA = 0_V * 1_s * 1_s / 1_tr; inline constexpr double kFeederSpeed = 0.5; } // namespace shooter