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Use stricter C++ type conversions (#4357)

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Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
  auto curTime = units::second_t(m_timer.Get());
                 ^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
This commit is contained in:
Tyler Veness
2022-08-17 13:42:36 -07:00
committed by GitHub
parent 151dabb2af
commit ac9be78e27
139 changed files with 547 additions and 593 deletions
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19
wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
View File

@@ -7,7 +7,6 @@
#include <utility>
using namespace frc2;
using namespace units;
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
@@ -269,7 +268,7 @@ void MecanumControllerCommand::Initialize() {
}
void MecanumControllerCommand::Execute() {
auto curTime = second_t(m_timer.Get());
auto curTime = m_timer.Get();
auto dt = curTime - m_prevTime;
auto m_desiredState = m_trajectory.Sample(curTime);
@@ -302,21 +301,21 @@ void MecanumControllerCommand::Execute() {
rearRightSpeedSetpoint,
(rearRightSpeedSetpoint - m_prevSpeeds.rearRight) / dt);
auto frontLeftOutput = volt_t(m_frontLeftController->Calculate(
auto frontLeftOutput = units::volt_t{m_frontLeftController->Calculate(
m_currentWheelSpeeds().frontLeft.value(),
frontLeftSpeedSetpoint.value())) +
frontLeftSpeedSetpoint.value())} +
frontLeftFeedforward;
auto rearLeftOutput = volt_t(m_rearLeftController->Calculate(
auto rearLeftOutput = units::volt_t{m_rearLeftController->Calculate(
m_currentWheelSpeeds().rearLeft.value(),
rearLeftSpeedSetpoint.value())) +
rearLeftSpeedSetpoint.value())} +
rearLeftFeedforward;
auto frontRightOutput = volt_t(m_frontRightController->Calculate(
auto frontRightOutput = units::volt_t{m_frontRightController->Calculate(
m_currentWheelSpeeds().frontRight.value(),
frontRightSpeedSetpoint.value())) +
frontRightSpeedSetpoint.value())} +
frontRightFeedforward;
auto rearRightOutput = volt_t(m_rearRightController->Calculate(
auto rearRightOutput = units::volt_t{m_rearRightController->Calculate(
m_currentWheelSpeeds().rearRight.value(),
rearRightSpeedSetpoint.value())) +
rearRightSpeedSetpoint.value())} +
rearRightFeedforward;
m_outputVolts(frontLeftOutput, rearLeftOutput, frontRightOutput,

13
wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
View File

@@ -7,7 +7,6 @@
#include <utility>
using namespace frc2;
using namespace units;
RamseteCommand::RamseteCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
@@ -16,7 +15,7 @@ RamseteCommand::RamseteCommand(
frc::DifferentialDriveKinematics kinematics,
std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
frc2::PIDController leftController, frc2::PIDController rightController,
std::function<void(volt_t, volt_t)> output,
std::function<void(units::volt_t, units::volt_t)> output,
std::initializer_list<Subsystem*> requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
@@ -38,7 +37,7 @@ RamseteCommand::RamseteCommand(
frc::DifferentialDriveKinematics kinematics,
std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
frc2::PIDController leftController, frc2::PIDController rightController,
std::function<void(volt_t, volt_t)> output,
std::function<void(units::volt_t, units::volt_t)> output,
wpi::span<Subsystem* const> requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
@@ -127,13 +126,13 @@ void RamseteCommand::Execute() {
(targetWheelSpeeds.right - m_prevSpeeds.right) / dt);
auto leftOutput =
volt_t(m_leftController->Calculate(m_speeds().left.value(),
targetWheelSpeeds.left.value())) +
units::volt_t{m_leftController->Calculate(
m_speeds().left.value(), targetWheelSpeeds.left.value())} +
leftFeedforward;
auto rightOutput =
volt_t(m_rightController->Calculate(m_speeds().right.value(),
targetWheelSpeeds.right.value())) +
units::volt_t{m_rightController->Calculate(
m_speeds().right.value(), targetWheelSpeeds.right.value())} +
rightFeedforward;
m_outputVolts(leftOutput, rightOutput);