Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Use stricter C++ type conversions (#4357)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

4
wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
View File

@@ -41,8 +41,8 @@ TEST(ControlAffinePlantInversionFeedforwardTest, CalculateState) {
Matrixd<2, 1> B{0, 1};
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{
modelDynamics, B, units::second_t(0.02)};
frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{modelDynamics,
B, 20_ms};
Vectord<2> r{2, 2};
Vectord<2> nextR{3, 3};

4
wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
View File

@@ -28,7 +28,7 @@ TEST(HolonomicDriveControllerTest, ReachesReference) {
units::radians_per_second_t{2.0 * wpi::numbers::pi},
units::radians_per_second_squared_t{wpi::numbers::pi}}}};
frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};
auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
@@ -60,7 +60,7 @@ TEST(HolonomicDriveControllerTest, DoesNotRotateUnnecessarily) {
4_rad_per_s, 2_rad_per_s / 1_s}}};
frc::ChassisSpeeds speeds = controller.Calculate(
frc::Pose2d(0_m, 0_m, 1.57_rad), frc::Pose2d(), 0_mps, 1.57_rad);
frc::Pose2d{0_m, 0_m, 1.57_rad}, frc::Pose2d{}, 0_mps, 1.57_rad);
EXPECT_EQ(0, speeds.omega.value());
}

2
wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
View File

@@ -65,7 +65,7 @@ TEST(LTVDifferentialDriveControllerTest, ReachesReference) {
frc::LTVDifferentialDriveController controller{
plant, kTrackwidth, {0.0625, 0.125, 2.5, 0.95, 0.95}, {12.0, 12.0}, kDt};
frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};
auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};

2
wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
View File

@@ -19,7 +19,7 @@ TEST(LTVUnicycleControllerTest, ReachesReference) {
constexpr auto kDt = 0.02_s;
frc::LTVUnicycleController controller{{0.0625, 0.125, 2.5}, {4.0, 4.0}, kDt};
frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};
auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};

3
wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp
View File

@@ -16,8 +16,7 @@ TEST(LinearPlantInversionFeedforwardTest, Calculate) {
Matrixd<2, 2> A{{1, 0}, {0, 1}};
Matrixd<2, 1> B{0, 1};
frc::LinearPlantInversionFeedforward<2, 1> feedforward{A, B,
units::second_t(0.02)};
frc::LinearPlantInversionFeedforward<2, 1> feedforward{A, B, 20_ms};
Vectord<2> r{2, 2};
Vectord<2> nextR{3, 3};

2
wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp
View File

@@ -9,7 +9,7 @@ class PIDInputOutputTest : public testing::Test {
protected:
frc2::PIDController* controller;
void SetUp() override { controller = new frc2::PIDController(0, 0, 0); }
void SetUp() override { controller = new frc2::PIDController{0, 0, 0}; }
void TearDown() override { delete controller; }
};

2
wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
View File

@@ -18,7 +18,7 @@ static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
TEST(RamseteControllerTest, ReachesReference) {
frc::RamseteController controller{2.0 * 1_rad * 1_rad / (1_m * 1_m),
0.7 / 1_rad};
frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};
auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};