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

Use stricter C++ type conversions (#4357)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

18
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
View File

@@ -82,20 +82,20 @@ double DifferentialDrivetrainSim::GetState(int state) const {
}
Rotation2d DifferentialDrivetrainSim::GetHeading() const {
return Rotation2d(units::radian_t(GetOutput(State::kHeading)));
return units::radian_t{GetOutput(State::kHeading)};
}
Pose2d DifferentialDrivetrainSim::GetPose() const {
return Pose2d(units::meter_t(GetOutput(State::kX)),
units::meter_t(GetOutput(State::kY)), GetHeading());
return Pose2d{units::meter_t{GetOutput(State::kX)},
units::meter_t{GetOutput(State::kY)}, GetHeading()};
}
units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
auto loadIleft =
m_motor.Current(
units::radians_per_second_t(m_x(State::kLeftVelocity) *
m_currentGearing / m_wheelRadius.value()),
units::volt_t(m_u(0))) *
units::radians_per_second_t{m_x(State::kLeftVelocity) *
m_currentGearing / m_wheelRadius.value()},
units::volt_t{m_u(0)}) *
wpi::sgn(m_u(0));
return loadIleft;
@@ -104,9 +104,9 @@ units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
auto loadIRight =
m_motor.Current(
units::radians_per_second_t(m_x(State::kRightVelocity) *
m_currentGearing / m_wheelRadius.value()),
units::volt_t(m_u(1))) *
units::radians_per_second_t{m_x(State::kRightVelocity) *
m_currentGearing / m_wheelRadius.value()},
units::volt_t{m_u(1)}) *
wpi::sgn(m_u(1));
return loadIRight;