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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/ElevatorSimulation/cpp/Robot.cpp
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@@ -74,7 +74,7 @@ class Robot : public frc::TimedRobot {
m_mech2d.GetRoot("Elevator Root", 10, 0);
frc::MechanismLigament2d* m_elevatorMech2d =
m_elevatorRoot->Append<frc::MechanismLigament2d>(
"Elevator", units::inch_t(m_elevatorSim.GetPosition()).value(),
"Elevator", units::inch_t{m_elevatorSim.GetPosition()}.value(),
90_deg);
public:
@@ -103,15 +103,15 @@ class Robot : public frc::TimedRobot {
// Update the Elevator length based on the simulated elevator height
m_elevatorMech2d->SetLength(
units::inch_t(m_elevatorSim.GetPosition()).value());
units::inch_t{m_elevatorSim.GetPosition()}.value());
}
void TeleopPeriodic() override {
if (m_joystick.GetTrigger()) {
// Here, we run PID control like normal, with a constant setpoint of 30in.
double pidOutput = m_controller.Calculate(m_encoder.GetDistance(),
units::meter_t(30_in).value());
m_motor.SetVoltage(units::volt_t(pidOutput));
units::meter_t{30_in}.value());
m_motor.SetVoltage(units::volt_t{pidOutput});
} else {
// Otherwise, we disable the motor.
m_motor.Set(0.0);