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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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15
wpilibc/src/main/native/include/frc/MotorSafety.h
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@@ -6,6 +6,7 @@
#include <string>
#include <units/time.h>
#include <wpi/mutex.h>
#include "frc/Timer.h"
@@ -36,16 +37,16 @@ class MotorSafety {
/**
* Set the expiration time for the corresponding motor safety object.
*
* @param expirationTime The timeout value in seconds.
* @param expirationTime The timeout value.
*/
void SetExpiration(double expirationTime);
void SetExpiration(units::second_t expirationTime);
/**
* Retrieve the timeout value for the corresponding motor safety object.
*
* @return the timeout value in seconds.
* @return the timeout value.
*/
double GetExpiration() const;
units::second_t GetExpiration() const;
/**
* Determine if the motor is still operating or has timed out.
@@ -93,16 +94,16 @@ class MotorSafety {
virtual std::string GetDescription() const = 0;
private:
static constexpr double kDefaultSafetyExpiration = 0.1;
static constexpr auto kDefaultSafetyExpiration = 100_ms;
// The expiration time for this object
double m_expiration = kDefaultSafetyExpiration;
units::second_t m_expiration = kDefaultSafetyExpiration;
// True if motor safety is enabled for this motor
bool m_enabled = false;
// The FPGA clock value when the motor has expired
double m_stopTime = Timer::GetFPGATimestamp();
units::second_t m_stopTime = Timer::GetFPGATimestamp();
mutable wpi::mutex m_thisMutex;
};