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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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16
wpilibcIntegrationTests/src/main/native/cpp/TiltPanCameraTest.cpp
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@@ -4,6 +4,8 @@
#include <cmath>
#include <units/time.h>
#include "TestBench.h"
#include "frc/ADXL345_SPI.h"
#include "frc/AnalogGyro.h"
@@ -13,14 +15,14 @@
using namespace frc;
static constexpr double kServoResetTime = 2.0;
static constexpr auto kServoResetTime = 2_s;
static constexpr double kTestAngle = 90.0;
static constexpr double kTiltSetpoint0 = 0.22;
static constexpr double kTiltSetpoint45 = 0.45;
static constexpr double kTiltSetpoint90 = 0.68;
static constexpr double kTiltTime = 1.0;
static constexpr auto kTiltTime = 1_s;
static constexpr double kAccelerometerTolerance = 0.2;
static constexpr double kSensitivity = 0.013;
@@ -84,12 +86,12 @@ void TiltPanCameraTest::DefaultGyroAngle() {
void TiltPanCameraTest::GyroAngle() {
// Make sure that the gyro doesn't get jerked when the servo goes to zero.
m_pan->SetAngle(0.0);
Wait(0.5);
Wait(0.5_s);
m_gyro->Reset();
for (int32_t i = 0; i < 600; i++) {
m_pan->Set(i / 1000.0);
Wait(0.001);
Wait(1_ms);
}
double gyroAngle = m_gyro->GetAngle();
@@ -114,18 +116,18 @@ void TiltPanCameraTest::GyroCalibratedParameters() {
// Default gyro angle test
// Accumulator needs a small amount of time to reset before being tested
m_gyro->Reset();
Wait(0.001);
Wait(1_ms);
EXPECT_NEAR(0.0, m_gyro->GetAngle(), 1.0);
// Gyro angle test
// Make sure that the gyro doesn't get jerked when the servo goes to zero.
m_pan->SetAngle(0.0);
Wait(0.5);
Wait(0.5_s);
m_gyro->Reset();
for (int32_t i = 0; i < 600; i++) {
m_pan->Set(i / 1000.0);
Wait(0.001);
Wait(1_ms);
}
double gyroAngle = m_gyro->GetAngle();