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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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14
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
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@@ -7,6 +7,7 @@
#include <frc/trajectory/TrapezoidProfile.h>
#include <units/acceleration.h>
#include <units/angle.h>
#include <units/angular_acceleration.h>
#include <units/angular_velocity.h>
#include <units/length.h>
#include <units/time.h>
@@ -70,15 +71,10 @@ constexpr double kPRearRightVel = 0.5;
} // namespace DriveConstants
namespace AutoConstants {
using radians_per_second_squared_t =
units::compound_unit<units::radians,
units::inverse<units::squared<units::second>>>;
constexpr auto kMaxSpeed = units::meters_per_second_t(3);
constexpr auto kMaxAcceleration = units::meters_per_second_squared_t(3);
constexpr auto kMaxAngularSpeed = units::radians_per_second_t(3);
constexpr auto kMaxAngularAcceleration =
units::unit_t<radians_per_second_squared_t>(3);
constexpr auto kMaxSpeed = 3_mps;
constexpr auto kMaxAcceleration = 3_mps_sq;
constexpr auto kMaxAngularSpeed = 3_rad_per_s;
constexpr auto kMaxAngularAcceleration = 3_rad_per_s_sq;
constexpr double kPXController = 0.5;
constexpr double kPYController = 0.5;