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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/include/frc/controller/ProfiledPIDController.h
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@@ -143,7 +143,7 @@ class ProfiledPIDController
*
* @param goal The desired unprofiled setpoint.
*/
void SetGoal(Distance_t goal) { m_goal = {goal, Velocity_t(0)}; }
void SetGoal(Distance_t goal) { m_goal = {goal, Velocity_t{0}}; }
/**
* Gets the goal for the ProfiledPIDController.
@@ -225,8 +225,8 @@ class ProfiledPIDController
* @param velocityTolerance Velocity error which is tolerable.
*/
void SetTolerance(Distance_t positionTolerance,
Velocity_t velocityTolerance =
Velocity_t(std::numeric_limits<double>::infinity())) {
Velocity_t velocityTolerance = Velocity_t{
std::numeric_limits<double>::infinity()}) {
m_controller.SetTolerance(positionTolerance.value(),
velocityTolerance.value());
}
@@ -237,14 +237,14 @@ class ProfiledPIDController
* @return The error.
*/
Distance_t GetPositionError() const {
return Distance_t(m_controller.GetPositionError());
return Distance_t{m_controller.GetPositionError()};
}
/**
* Returns the change in error per second.
*/
Velocity_t GetVelocityError() const {
return Velocity_t(m_controller.GetVelocityError());
return Velocity_t{m_controller.GetVelocityError()};
}
/**
@@ -339,7 +339,7 @@ class ProfiledPIDController
* velocity is assumed to be zero.
*/
void Reset(Distance_t measuredPosition) {
Reset(measuredPosition, Velocity_t(0));
Reset(measuredPosition, Velocity_t{0});
}
void InitSendable(wpi::SendableBuilder& builder) override {