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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/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -9,10 +9,10 @@
#include "ExampleGlobalMeasurementSensor.h"
frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
return {units::meters_per_second_t(m_frontLeftEncoder.GetRate()),
units::meters_per_second_t(m_frontRightEncoder.GetRate()),
units::meters_per_second_t(m_backLeftEncoder.GetRate()),
units::meters_per_second_t(m_backRightEncoder.GetRate())};
return {units::meters_per_second_t{m_frontLeftEncoder.GetRate()},
units::meters_per_second_t{m_frontRightEncoder.GetRate()},
units::meters_per_second_t{m_backLeftEncoder.GetRate()},
units::meters_per_second_t{m_backRightEncoder.GetRate()}};
}
void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {

6
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
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@@ -74,7 +74,7 @@ class Drivetrain {
// Gains are for example purposes only - must be determined for your own
// robot!
frc::MecanumDrivePoseEstimator m_poseEstimator{
frc::Rotation2d(), frc::Pose2d(), m_kinematics,
{0.1, 0.1, 0.1}, {0.05}, {0.1, 0.1, 0.1}};
frc::MecanumDrivePoseEstimator m_poseEstimator{0_deg, frc::Pose2d{},
m_kinematics, {0.1, 0.1, 0.1},
{0.05}, {0.1, 0.1, 0.1}};
};

6
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
View File

@@ -16,9 +16,9 @@ class ExampleGlobalMeasurementSensor {
static frc::Pose2d GetEstimatedGlobalPose(
const frc::Pose2d& estimatedRobotPose) {
auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
return frc::Pose2d(estimatedRobotPose.X() + units::meter_t(randVec(0)),
estimatedRobotPose.Y() + units::meter_t(randVec(1)),
return frc::Pose2d{estimatedRobotPose.X() + units::meter_t{randVec(0)},
estimatedRobotPose.Y() + units::meter_t{randVec(1)},
estimatedRobotPose.Rotation() +
frc::Rotation2d(units::radian_t(randVec(3))));
frc::Rotation2d{units::radian_t{randVec(3)}}};
}
};