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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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4
wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Drivetrain.cpp
View File

@@ -23,8 +23,8 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
void Drivetrain::UpdateOdometry() {
m_odometry.Update(m_gyro.GetRotation2d(),
units::meter_t(m_leftEncoder.GetDistance()),
units::meter_t(m_rightEncoder.GetDistance()));
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()});
}
void Drivetrain::ResetOdometry(const frc::Pose2d& pose) {

6
wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
View File

@@ -79,9 +79,9 @@ class Robot : public frc::TimedRobot {
// An example trajectory to follow.
frc::Trajectory m_trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
frc::Pose2d(0_m, 0_m, 0_rad),
{frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
frc::Pose2d(3_m, 0_m, 0_rad), frc::TrajectoryConfig(3_fps, 3_fps_sq));
frc::Pose2d{0_m, 0_m, 0_rad},
{frc::Translation2d{1_m, 1_m}, frc::Translation2d{2_m, -1_m}},
frc::Pose2d{3_m, 0_m, 0_rad}, frc::TrajectoryConfig(3_fps, 3_fps_sq));
// The Ramsete Controller to follow the trajectory.
frc::RamseteController m_ramseteController;