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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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6
wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
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@@ -46,10 +46,10 @@ TrapezoidProfile<Distance>::TrapezoidProfile(Constraints constraints,
accelerationTime * accelerationTime * m_constraints.maxAcceleration;
// Handle the case where the profile never reaches full speed
if (fullSpeedDist < Distance_t(0)) {
if (fullSpeedDist < Distance_t{0}) {
accelerationTime =
units::math::sqrt(fullTrapezoidDist / m_constraints.maxAcceleration);
fullSpeedDist = Distance_t(0);
fullSpeedDist = Distance_t{0};
}
m_endAccel = accelerationTime - cutoffBegin;
@@ -110,7 +110,7 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
Distance_t distToTarget = units::math::abs(target - position);
if (distToTarget < Distance_t(1e-6)) {
if (distToTarget < Distance_t{1e-6}) {
return 0_s;
}