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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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8
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
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@@ -120,8 +120,8 @@ class Robot : public frc::TimedRobot {
void TeleopInit() override {
// Read Preferences for Arm setpoint and kP on entering Teleop
armPosition = units::degree_t(
frc::Preferences::GetDouble(kArmPositionKey, armPosition.value()));
armPosition = units::degree_t{
frc::Preferences::GetDouble(kArmPositionKey, armPosition.value())};
if (kArmKp != frc::Preferences::GetDouble(kArmPKey, kArmKp)) {
kArmKp = frc::Preferences::GetDouble(kArmPKey, kArmKp);
m_controller.SetP(kArmKp);
@@ -133,8 +133,8 @@ class Robot : public frc::TimedRobot {
// Here, we run PID control like normal, with a setpoint read from
// preferences in degrees.
double pidOutput = m_controller.Calculate(
m_encoder.GetDistance(), (units::radian_t(armPosition).value()));
m_motor.SetVoltage(units::volt_t(pidOutput));
m_encoder.GetDistance(), (units::radian_t{armPosition}.value()));
m_motor.SetVoltage(units::volt_t{pidOutput});
} else {
// Otherwise, we disable the motor.
m_motor.Set(0.0);