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[wpiutil] Split units.h into separate headers for each unit (#2551)

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Closes #2508.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
This commit is contained in:
Tyler Veness
2020-06-29 22:25:09 -07:00
committed by GitHub
parent c6e6346642
commit d30d1088da
169 changed files with 6851 additions and 5061 deletions
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11
wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,13 +7,16 @@
#include "ReplaceMeProfiledPIDCommand.h"
#include <units/acceleration.h>
#include <units/velocity.h>
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMeProfiledPIDCommand::ReplaceMeProfiledPIDCommand()
: CommandHelper(
// The ProfiledPIDController that the command will use
frc::ProfiledPIDController<units::meter>(
frc::ProfiledPIDController<units::meters>(
// The PID gains
0, 0, 0,
// The motion profile constraints
@@ -22,11 +25,11 @@ ReplaceMeProfiledPIDCommand::ReplaceMeProfiledPIDCommand()
[] { return 0_m; },
// This should return the goal state (can also be a constant)
[] {
return frc::TrapezoidProfile<units::meter>::State{0_m, 0_mps};
return frc::TrapezoidProfile<units::meters>::State{0_m, 0_mps};
},
// This uses the output and current trajectory setpoint
[](double output,
frc::TrapezoidProfile<units::meter>::State setpoint) {
frc::TrapezoidProfile<units::meters>::State setpoint) {
// Use the output and setpoint here
}) {}

5
wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,9 +9,10 @@
#include <frc2/command/CommandHelper.h>
#include <frc2/command/ProfiledPIDCommand.h>
#include <units/length.h>
class ReplaceMeProfiledPIDCommand
: public frc2::CommandHelper<frc2::ProfiledPIDCommand<units::meter>,
: public frc2::CommandHelper<frc2::ProfiledPIDCommand<units::meters>,
ReplaceMeProfiledPIDCommand> {
public:
ReplaceMeProfiledPIDCommand();

9
wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,17 +7,20 @@
#include "ReplaceMeProfiledPIDSubsystem.h"
#include <units/acceleration.h>
#include <units/velocity.h>
ReplaceMeProfiledPIDSubsystem::ReplaceMeProfiledPIDSubsystem()
: ProfiledPIDSubsystem(
// The ProfiledPIDController used by the subsystem
frc::ProfiledPIDController<units::meter>(
frc::ProfiledPIDController<units::meters>(
// The PID gains
0, 0, 0,
// The constraints for the motion profiles
{0_mps, 0_mps_sq})) {}
void ReplaceMeProfiledPIDSubsystem::UseOutput(
double output, frc::TrapezoidProfile<units::meter>::State setpoint) {
double output, frc::TrapezoidProfile<units::meters>::State setpoint) {
// Use the output and current trajectory setpoint here
}

7
wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,15 +8,16 @@
#pragma once
#include <frc2/command/ProfiledPIDSubsystem.h>
#include <units/length.h>
class ReplaceMeProfiledPIDSubsystem
: public frc2::ProfiledPIDSubsystem<units::meter> {
: public frc2::ProfiledPIDSubsystem<units::meters> {
public:
ReplaceMeProfiledPIDSubsystem();
protected:
void UseOutput(double output,
frc::TrapezoidProfile<units::meter>::State setpoint) override;
frc::TrapezoidProfile<units::meters>::State setpoint) override;
units::meter_t GetMeasurement() override;
};

9
wpilibcExamples/src/main/cpp/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,19 +7,22 @@
#include "ReplaceMeTrapezoidProfileCommand.h"
#include <units/acceleration.h>
#include <units/velocity.h>
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMeTrapezoidProfileCommand::ReplaceMeTrapezoidProfileCommand()
: CommandHelper
// The profile to execute
(frc::TrapezoidProfile<units::meter>(
(frc::TrapezoidProfile<units::meters>(
// The maximum velocity and acceleration of the profile
{5_mps, 5_mps_sq},
// The goal state of the profile
{10_m, 0_mps},
// The initial state of the profile
{0_m, 0_mps}),
[](frc::TrapezoidProfile<units::meter>::State state) {
[](frc::TrapezoidProfile<units::meters>::State state) {
// Use the computed intermediate trajectory state here
}) {}

5
wpilibcExamples/src/main/cpp/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,9 +9,10 @@
#include <frc2/command/CommandHelper.h>
#include <frc2/command/TrapezoidProfileCommand.h>
#include <units/length.h>
class ReplaceMeTrapezoidProfileCommand
: public frc2::CommandHelper<frc2::TrapezoidProfileCommand<units::meter>,
: public frc2::CommandHelper<frc2::TrapezoidProfileCommand<units::meters>,
ReplaceMeTrapezoidProfileCommand> {
public:
ReplaceMeTrapezoidProfileCommand();

5
wpilibcExamples/src/main/cpp/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,9 @@
#include "ReplaceMeTrapezoidProfileSubsystem.h"
#include <units/acceleration.h>
#include <units/velocity.h>
ReplaceMeTrapezoidProfileSubsystem::ReplaceMeTrapezoidProfileSubsystem()
: TrapezoidProfileSubsystem(
// The motion profile constraints

3
wpilibcExamples/src/main/cpp/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
#pragma once
#include <frc2/command/TrapezoidProfileSubsystem.h>
#include <units/length.h>
class ReplaceMeTrapezoidProfileSubsystem
: frc2::TrapezoidProfileSubsystem<units::meters> {