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Remove most 2022 deprecations (#4205)

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Excludes "old" commands and SimDevice functions.
This commit is contained in:
Tyler Veness
2022-05-04 20:37:27 -07:00
committed by GitHub
parent ce1a7d698a
commit ee03a7ad3b
75 changed files with 165 additions and 1882 deletions
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4
wpimath/src/main/native/cpp/controller/RamseteController.cpp
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@@ -24,10 +24,6 @@ static decltype(1 / 1_rad) Sinc(units::radian_t x) {
}
}
RamseteController::RamseteController(double b, double zeta)
: RamseteController(units::unit_t<b_unit>{b},
units::unit_t<zeta_unit>{zeta}) {}
RamseteController::RamseteController(units::unit_t<b_unit> b,
units::unit_t<zeta_unit> zeta)
: m_b{b}, m_zeta{zeta} {}

12
wpimath/src/main/native/include/frc/controller/RamseteController.h
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@@ -5,7 +5,6 @@
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/deprecated.h>
#include "frc/geometry/Pose2d.h"
#include "frc/kinematics/ChassisSpeeds.h"
@@ -50,17 +49,6 @@ class WPILIB_DLLEXPORT RamseteController {
units::inverse<units::squared<units::meters>>>;
using zeta_unit = units::inverse<units::radians>;
/**
* Construct a Ramsete unicycle controller.
*
* @param b Tuning parameter (b > 0 rad²/m²) for which larger values make
* convergence more aggressive like a proportional term.
* @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger
* values provide more damping in response.
*/
WPI_DEPRECATED("Use unit-safe constructor instead")
RamseteController(double b, double zeta);
/**
* Construct a Ramsete unicycle controller.
*