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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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12
wpimath/src/main/native/cpp/controller/HolonomicDriveController.cpp
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@@ -44,8 +44,8 @@ ChassisSpeeds HolonomicDriveController::Calculate(
// Calculate feedforward velocities (field-relative)
auto xFF = linearVelocityRef * poseRef.Rotation().Cos();
auto yFF = linearVelocityRef * poseRef.Rotation().Sin();
auto thetaFF = units::radians_per_second_t(m_thetaController.Calculate(
currentPose.Rotation().Radians(), angleRef.Radians()));
auto thetaFF = units::radians_per_second_t{m_thetaController.Calculate(
currentPose.Rotation().Radians(), angleRef.Radians())};
m_poseError = poseRef.RelativeTo(currentPose);
m_rotationError = angleRef - currentPose.Rotation();
@@ -56,10 +56,10 @@ ChassisSpeeds HolonomicDriveController::Calculate(
}
// Calculate feedback velocities (based on position error).
auto xFeedback = units::meters_per_second_t(
m_xController.Calculate(currentPose.X().value(), poseRef.X().value()));
auto yFeedback = units::meters_per_second_t(
m_yController.Calculate(currentPose.Y().value(), poseRef.Y().value()));
auto xFeedback = units::meters_per_second_t{
m_xController.Calculate(currentPose.X().value(), poseRef.X().value())};
auto yFeedback = units::meters_per_second_t{
m_yController.Calculate(currentPose.Y().value(), poseRef.Y().value())};
// Return next output.
return ChassisSpeeds::FromFieldRelativeSpeeds(