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[commands] Replace SysId hash map with if statements (#6209)

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This is much more efficient.
This commit is contained in:
Tyler Veness
2024-01-12 12:36:59 -08:00
committed by GitHub
parent d181e353a0
commit b482321c0d
3 changed files with 25 additions and 18 deletions
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26
wpilibNewCommands/src/main/native/cpp/frc2/command/sysid/SysIdRoutine.cpp
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@@ -4,14 +4,18 @@
#include "frc2/command/sysid/SysIdRoutine.h"
#include <frc/sysid/SysIdRoutineLog.h>
using namespace frc2::sysid;
frc2::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
std::unordered_map<Direction, frc::sysid::State> stateOptions{
{Direction::kForward, frc::sysid::State::kQuasistaticForward},
{Direction::kReverse, frc::sysid::State::kQuasistaticReverse},
};
frc::sysid::State state = stateOptions[direction];
frc::sysid::State state;
if (direction == Direction::kForward) {
state = frc::sysid::State::kQuasistaticForward;
} else { // if (direction == Direction::kReverse) {
state = frc::sysid::State::kQuasistaticReverse;
}
double outputSign = direction == Direction::kForward ? 1.0 : -1.0;
return m_mechanism.m_subsystem
@@ -39,11 +43,13 @@ frc2::CommandPtr SysIdRoutine::Quasistatic(Direction direction) {
}
frc2::CommandPtr SysIdRoutine::Dynamic(Direction direction) {
std::unordered_map<Direction, frc::sysid::State> stateOptions{
{Direction::kForward, frc::sysid::State::kDynamicForward},
{Direction::kReverse, frc::sysid::State::kDynamicReverse},
};
frc::sysid::State state = stateOptions[direction];
frc::sysid::State state;
if (direction == Direction::kForward) {
state = frc::sysid::State::kDynamicForward;
} else { // if (direction == Direction::kReverse) {
state = frc::sysid::State::kDynamicReverse;
}
double outputSign = direction == Direction::kForward ? 1.0 : -1.0;
return m_mechanism.m_subsystem