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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/SwerveControllerCommand/include/subsystems/SwerveModule.h
View File

@@ -16,10 +16,6 @@
#include "Constants.h"
class SwerveModule {
using radians_per_second_squared_t =
units::compound_unit<units::radians,
units::inverse<units::squared<units::second>>>;
public:
SwerveModule(int driveMotorChannel, int turningMotorChannel,
const int driveEncoderPorts[2], const int turningEncoderPorts[2],
@@ -36,12 +32,10 @@ class SwerveModule {
// ProfiledPIDController's constraints only take in meters per second and
// meters per second squared.
static constexpr units::radians_per_second_t kModuleMaxAngularVelocity =
units::radians_per_second_t(wpi::numbers::pi); // radians per second
static constexpr units::unit_t<radians_per_second_squared_t>
kModuleMaxAngularAcceleration =
units::unit_t<radians_per_second_squared_t>(
wpi::numbers::pi * 2.0); // radians per second squared
static constexpr auto kModuleMaxAngularVelocity =
units::radians_per_second_t{wpi::numbers::pi};
static constexpr auto kModuleMaxAngularAcceleration =
units::radians_per_second_squared_t{wpi::numbers::pi * 2.0};
frc::Spark m_driveMotor;
frc::Spark m_turningMotor;