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Rename squaredInputs to squareInputs in DifferentialDrive (#1361)

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Fixes #1360.
This commit is contained in:
Liam Kinne
2018-10-14 17:10:16 +11:00
committed by Peter Johnson
parent 7068551a3e
commit da9a575526
3 changed files with 14 additions and 15 deletions
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8
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -28,7 +28,7 @@ DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
}
void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
bool squaredInputs) {
bool squareInputs) {
static bool reported = false;
if (!reported) {
HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 2,
@@ -44,7 +44,7 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squaredInputs) {
if (squareInputs) {
xSpeed = std::copysign(xSpeed * xSpeed, xSpeed);
zRotation = std::copysign(zRotation * zRotation, zRotation);
}
@@ -156,7 +156,7 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
}
void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
bool squaredInputs) {
bool squareInputs) {
static bool reported = false;
if (!reported) {
HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 2,
@@ -172,7 +172,7 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squaredInputs) {
if (squareInputs) {
leftSpeed = std::copysign(leftSpeed * leftSpeed, leftSpeed);
rightSpeed = std::copysign(rightSpeed * rightSpeed, rightSpeed);
}

9
wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
View File

@@ -124,9 +124,9 @@ class DifferentialDrive : public RobotDriveBase {
* axis [-1.0..1.0]. Forward is negative.
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
*/
void ArcadeDrive(double xSpeed, double zRotation, bool squaredInputs = true);
void ArcadeDrive(double xSpeed, double zRotation, bool squareInputs = true);
/**
* Curvature drive method for differential drive platform.
@@ -152,10 +152,9 @@ class DifferentialDrive : public RobotDriveBase {
* [-1.0..1.0]. Forward is positive.
* @param rightSpeed The robot right side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
*/
void TankDrive(double leftSpeed, double rightSpeed,
bool squaredInputs = true);
void TankDrive(double leftSpeed, double rightSpeed, bool squareInputs = true);
/**
* Sets the QuickStop speed threshold in curvature drive.

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
View File

@@ -140,10 +140,10 @@ public class DifferentialDrive extends RobotDriveBase {
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
* positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
*/
@SuppressWarnings("ParameterName")
public void arcadeDrive(double xSpeed, double zRotation, boolean squaredInputs) {
public void arcadeDrive(double xSpeed, double zRotation, boolean squareInputs) {
if (!m_reported) {
HAL.report(tResourceType.kResourceType_RobotDrive, 2,
tInstances.kRobotDrive2_DifferentialArcade);
@@ -158,7 +158,7 @@ public class DifferentialDrive extends RobotDriveBase {
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squaredInputs) {
if (squareInputs) {
xSpeed = Math.copySign(xSpeed * xSpeed, xSpeed);
zRotation = Math.copySign(zRotation * zRotation, zRotation);
}
@@ -298,9 +298,9 @@ public class DifferentialDrive extends RobotDriveBase {
* positive.
* @param rightSpeed The robot right side's speed along the X axis [-1.0..1.0]. Forward is
* positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
*/
public void tankDrive(double leftSpeed, double rightSpeed, boolean squaredInputs) {
public void tankDrive(double leftSpeed, double rightSpeed, boolean squareInputs) {
if (!m_reported) {
HAL.report(tResourceType.kResourceType_RobotDrive, 2,
tInstances.kRobotDrive2_DifferentialTank);
@@ -315,7 +315,7 @@ public class DifferentialDrive extends RobotDriveBase {
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squaredInputs) {
if (squareInputs) {
leftSpeed = Math.copySign(leftSpeed * leftSpeed, leftSpeed);
rightSpeed = Math.copySign(rightSpeed * rightSpeed, rightSpeed);
}