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[wpilibc] Transition C++ classes to units::second_t (#3396)

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A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
This commit is contained in:
Tyler Veness
2021-05-28 22:06:59 -07:00
committed by GitHub
parent 827b17a52b
commit e09293a15e
99 changed files with 503 additions and 790 deletions
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10
wpilibc/src/main/native/cpp/Ultrasonic.cpp
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@@ -142,14 +142,16 @@ double Ultrasonic::GetRangeInches() const {
if (m_simRange) {
return m_simRange.Get();
}
return m_counter.GetPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
return units::inch_t{m_counter.GetPeriod() * kSpeedOfSound / 2.0}
.to<double>();
} else {
return 0;
}
}
double Ultrasonic::GetRangeMM() const {
return GetRangeInches() * 25.4;
return units::millimeter_t{m_counter.GetPeriod() * kSpeedOfSound / 2.0}
.to<double>();
}
bool Ultrasonic::IsEnabled() const {
@@ -180,7 +182,7 @@ void Ultrasonic::Initialize() {
// Link this instance on the list
m_sensors.emplace_back(this);
m_counter.SetMaxPeriod(1.0);
m_counter.SetMaxPeriod(1_s);
m_counter.SetSemiPeriodMode(true);
m_counter.Reset();
m_enabled = true; // Make it available for round robin scheduling
@@ -204,7 +206,7 @@ void Ultrasonic::UltrasonicChecker() {
sensor->m_pingChannel->Pulse(kPingTime); // do the ping
}
Wait(0.1); // wait for ping to return
Wait(100_ms); // wait for ping to return
}
}
}