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[wpimath, wpiutil] Add wpi::array for compile time size checking (#3087)

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The wpimath APIs use std::array, which doesn't do size checking. Passing
an array with the wrong size can result in uninitialized elements
instead of a compilation error.

This is a breaking change but is worthwhile to avoid hard-to-debug errors.
This commit is contained in:
Tyler Veness
2021-01-16 20:26:17 -08:00
committed by GitHub
parent d6ed20c1e4
commit f393989a5b
25 changed files with 227 additions and 118 deletions
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2
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -65,7 +65,7 @@ void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,
}
void DriveSubsystem::SetModuleStates(
std::array<frc::SwerveModuleState, 4> desiredStates) {
wpi::array<frc::SwerveModuleState, 4> desiredStates) {
kDriveKinematics.NormalizeWheelSpeeds(&desiredStates,
AutoConstants::kMaxSpeed);
m_frontLeft.SetDesiredState(desiredStates[0]);

2
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
View File

@@ -53,7 +53,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
/**
* Sets the drive SpeedControllers to a power from -1 to 1.
*/
void SetModuleStates(std::array<frc::SwerveModuleState, 4> desiredStates);
void SetModuleStates(wpi::array<frc::SwerveModuleState, 4> desiredStates);
/**
* Returns the heading of the robot.