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

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.

wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.cpp

@@ -4,7 +4,7 @@
 
 #include "ReplaceMeTimedCommand.h"
 
-ReplaceMeTimedCommand::ReplaceMeTimedCommand(double timeout)
+ReplaceMeTimedCommand::ReplaceMeTimedCommand(units::second_t timeout)
     : TimedCommand(timeout) {
   // Use Requires() here to declare subsystem dependencies
   // eg. Requires(Robot::chassis.get());

wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.h

@@ -5,10 +5,11 @@
 #pragma once
 
 #include <frc/commands/TimedCommand.h>
+#include <units/time.h>
 
 class ReplaceMeTimedCommand : public frc::TimedCommand {
  public:
-  explicit ReplaceMeTimedCommand(double timeout);
+  explicit ReplaceMeTimedCommand(units::second_t timeout);
   void Initialize() override;
   void Execute() override;
   void End() override;

wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp

@@ -4,7 +4,7 @@
 
 #include "Drivetrain.h"
 
-#include <frc2/Timer.h>
+#include <frc/Timer.h>
 
 #include "ExampleGlobalMeasurementSensor.h"
 
@@ -38,5 +38,5 @@ void Drivetrain::UpdateOdometry() {
   m_poseEstimator.AddVisionMeasurement(
       ExampleGlobalMeasurementSensor::GetEstimatedGlobalPose(
           m_poseEstimator.GetEstimatedPosition()),
-      frc2::Timer::GetFPGATimestamp() - 0.3_s);
+      frc::Timer::GetFPGATimestamp() - 0.3_s);
 }

wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp

@@ -12,7 +12,7 @@
 class Robot : public frc::TimedRobot {
  public:
   Robot() {
-    m_robotDrive.SetExpiration(0.1);
+    m_robotDrive.SetExpiration(100_ms);
     m_timer.Start();
   }
 
@@ -23,7 +23,7 @@ class Robot : public frc::TimedRobot {
 
   void AutonomousPeriodic() override {
     // Drive for 2 seconds
-    if (m_timer.Get() < 2.0) {
+    if (m_timer.Get() < 2_s) {
       // Drive forwards half speed
       m_robotDrive.ArcadeDrive(0.5, 0.0);
     } else {

wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp

@@ -4,7 +4,7 @@
 
 #include "Drivetrain.h"
 
-#include <frc2/Timer.h>
+#include <frc/Timer.h>
 
 #include "ExampleGlobalMeasurementSensor.h"
 
@@ -58,5 +58,5 @@ void Drivetrain::UpdateOdometry() {
   m_poseEstimator.AddVisionMeasurement(
       ExampleGlobalMeasurementSensor::GetEstimatedGlobalPose(
           m_poseEstimator.GetEstimatedPosition()),
-      frc2::Timer::GetFPGATimestamp() - 0.3_s);
+      frc::Timer::GetFPGATimestamp() - 0.3_s);
 }

wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/commands/CheckForHotGoal.cpp

@@ -6,7 +6,7 @@
 
 #include "Robot.h"
 
-CheckForHotGoal::CheckForHotGoal(double time) {
+CheckForHotGoal::CheckForHotGoal(units::second_t time) {
   SetTimeout(time);
 }
 

wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/commands/DriveAndShootAutonomous.cpp

@@ -14,10 +14,10 @@
 
 DriveAndShootAutonomous::DriveAndShootAutonomous() {
   AddSequential(new CloseClaw());
-  AddSequential(new WaitForPressure(), 2);
+  AddSequential(new WaitForPressure(), 2_s);
 #ifndef SIMULATION
   // NOTE: Simulation doesn't currently have the concept of hot.
-  AddSequential(new CheckForHotGoal(2));
+  AddSequential(new CheckForHotGoal(2_s));
 #endif
   AddSequential(new SetPivotSetpoint(45));
   AddSequential(new DriveForward(8, 0.3));

wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/commands/DriveForward.cpp

@@ -29,7 +29,7 @@ DriveForward::DriveForward(double dist, double maxSpeed) {
 // Called just before this Command runs the first time
 void DriveForward::Initialize() {
   Robot::drivetrain.GetRightEncoder().Reset();
-  SetTimeout(2);
+  SetTimeout(2_s);
 }
 
 // Called repeatedly when this Command is scheduled to run

wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/commands/ExtendShooter.cpp

@@ -6,7 +6,7 @@
 
 #include "Robot.h"
 
-ExtendShooter::ExtendShooter() : frc::TimedCommand(1.0) {
+ExtendShooter::ExtendShooter() : frc::TimedCommand(1_s) {
   Requires(&Robot::shooter);
 }
 

wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp

@@ -19,7 +19,7 @@ DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") {
   // Configure the DifferentialDrive to reflect the fact that all our
   // motors are wired backwards and our drivers sensitivity preferences.
   m_robotDrive.SetSafetyEnabled(false);
-  m_robotDrive.SetExpiration(0.1);
+  m_robotDrive.SetExpiration(100_ms);
   m_robotDrive.SetMaxOutput(1.0);
   m_leftCIMs.SetInverted(true);
   m_rightCIMs.SetInverted(true);

wpilibcExamples/src/main/cpp/examples/PacGoat/include/commands/CheckForHotGoal.h

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <frc/commands/Command.h>
+#include <units/time.h>
 
 /**
  * This command looks for the hot goal and waits until it's detected or timed
@@ -14,6 +15,6 @@
  */
 class CheckForHotGoal : public frc::Command {
  public:
-  explicit CheckForHotGoal(double time);
+  explicit CheckForHotGoal(units::second_t time);
   bool IsFinished() override;
 };

wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp

@@ -4,12 +4,12 @@
 
 #include <frc/SlewRateLimiter.h>
 #include <frc/TimedRobot.h>
+#include <frc/Timer.h>
 #include <frc/XboxController.h>
 #include <frc/controller/RamseteController.h>
 #include <frc/smartdashboard/Field2d.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
-#include <frc2/Timer.h>
 
 #include "Drivetrain.h"
 
@@ -89,7 +89,7 @@ class Robot : public frc::TimedRobot {
   frc::RamseteController m_ramseteController;
 
   // The timer to use during the autonomous period.
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
 
   // Create Field2d for robot and trajectory visualizations.
   frc::Field2d m_field;

wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp

@@ -7,7 +7,7 @@
 #include <frc/DigitalInput.h>
 #include <frc/DigitalOutput.h>
 #include <frc/Errors.h>
-#include <frc2/Timer.h>
+#include <frc/Timer.h>
 
 OnBoardIO::OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2) {
   if (dio1 == ChannelMode::INPUT) {
@@ -30,7 +30,7 @@ bool OnBoardIO::GetButtonBPressed() {
     return m_buttonB->Get();
   }
 
-  auto currentTime = frc2::Timer::GetFPGATimestamp();
+  auto currentTime = frc::Timer::GetFPGATimestamp();
   if (currentTime > m_nextMessageTime) {
     FRC_ReportError(frc::err::Error, "Button {} was not configured", "B");
     m_nextMessageTime = currentTime + kMessageInterval;
@@ -43,7 +43,7 @@ bool OnBoardIO::GetButtonCPressed() {
     return m_buttonC->Get();
   }
 
-  auto currentTime = frc2::Timer::GetFPGATimestamp();
+  auto currentTime = frc::Timer::GetFPGATimestamp();
   if (currentTime > m_nextMessageTime) {
     FRC_ReportError(frc::err::Error, "Button {} was not configured", "C");
     m_nextMessageTime = currentTime + kMessageInterval;
@@ -55,7 +55,7 @@ void OnBoardIO::SetGreenLed(bool value) {
   if (m_greenLed) {
     m_greenLed->Set(value);
   } else {
-    auto currentTime = frc2::Timer::GetFPGATimestamp();
+    auto currentTime = frc::Timer::GetFPGATimestamp();
     if (currentTime > m_nextMessageTime) {
       FRC_ReportError(frc::err::Error, "{} LED was not configured", "Green");
       m_nextMessageTime = currentTime + kMessageInterval;
@@ -67,7 +67,7 @@ void OnBoardIO::SetRedLed(bool value) {
   if (m_redLed) {
     m_redLed->Set(value);
   } else {
-    auto currentTime = frc2::Timer::GetFPGATimestamp();
+    auto currentTime = frc::Timer::GetFPGATimestamp();
     if (currentTime > m_nextMessageTime) {
       FRC_ReportError(frc::err::Error, "{} LED was not configured", "Red");
       m_nextMessageTime = currentTime + kMessageInterval;

wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.h

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <frc2/Timer.h>
+#include <frc/Timer.h>
 #include <frc2/command/CommandBase.h>
 #include <frc2/command/CommandHelper.h>
 #include <units/time.h>
@@ -27,5 +27,5 @@ class DriveTime : public frc2::CommandHelper<frc2::CommandBase, DriveTime> {
   double m_speed;
   units::second_t m_duration;
   Drivetrain* m_drive;
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
 };

wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.h

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <frc2/Timer.h>
+#include <frc/Timer.h>
 #include <frc2/command/CommandBase.h>
 #include <frc2/command/CommandHelper.h>
 #include <units/time.h>
@@ -27,5 +27,5 @@ class TurnTime : public frc2::CommandHelper<frc2::CommandBase, TurnTime> {
   double m_speed;
   units::second_t m_duration;
   Drivetrain* m_drive;
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
 };

wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp

@@ -4,10 +4,10 @@
 
 #include <frc/SlewRateLimiter.h>
 #include <frc/TimedRobot.h>
+#include <frc/Timer.h>
 #include <frc/XboxController.h>
 #include <frc/controller/RamseteController.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
-#include <frc2/Timer.h>
 
 #include "Drivetrain.h"
 
@@ -69,7 +69,7 @@ class Robot : public frc::TimedRobot {
   Drivetrain m_drive;
   frc::Trajectory m_trajectory;
   frc::RamseteController m_ramsete;
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
 };
 
 #ifndef RUNNING_FRC_TESTS

wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp

@@ -4,7 +4,7 @@
 
 #include "Drivetrain.h"
 
-#include <frc2/Timer.h>
+#include <frc/Timer.h>
 
 #include "ExampleGlobalMeasurementSensor.h"
 
@@ -37,5 +37,5 @@ void Drivetrain::UpdateOdometry() {
   m_poseEstimator.AddVisionMeasurement(
       ExampleGlobalMeasurementSensor::GetEstimatedGlobalPose(
           m_poseEstimator.GetEstimatedPosition()),
-      frc2::Timer::GetFPGATimestamp() - 0.3_s);
+      frc::Timer::GetFPGATimestamp() - 0.3_s);
 }