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[wpilibc] Add units to Ultrasonic class API (#3403)

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This commit is contained in:
Tyler Veness
2021-06-01 21:54:56 -07:00
committed by GitHub
parent fe570e000c
commit d9eeb45b03
2 changed files with 11 additions and 25 deletions
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16
wpilibc/src/main/native/cpp/Ultrasonic.cpp
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@@ -137,23 +137,17 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
}
}
double Ultrasonic::GetRangeInches() const {
units::meter_t Ultrasonic::GetRange() const {
if (IsRangeValid()) {
if (m_simRange) {
return m_simRange.Get();
return units::meter_t{m_simRange.Get()};
}
return units::inch_t{m_counter.GetPeriod() * kSpeedOfSound / 2.0}
.to<double>();
return m_counter.GetPeriod() * kSpeedOfSound / 2.0;
} else {
return 0;
return 0_m;
}
}
double Ultrasonic::GetRangeMM() const {
return units::millimeter_t{m_counter.GetPeriod() * kSpeedOfSound / 2.0}
.to<double>();
}
bool Ultrasonic::IsEnabled() const {
return m_enabled;
}
@@ -165,7 +159,7 @@ void Ultrasonic::SetEnabled(bool enable) {
void Ultrasonic::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Ultrasonic");
builder.AddDoubleProperty(
"Value", [=]() { return GetRangeInches(); }, nullptr);
"Value", [=] { return units::inch_t{GetRange()}.to<double>(); }, nullptr);
}
void Ultrasonic::Initialize() {