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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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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
View File

@@ -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;
};