Clean up unit UDL usage

wpilibsuite · Aug 14, 2024 · 517b6e9 · 517b6e9
1 parent a2060fe
commit 517b6e9
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Showing 25 changed files with 57 additions and 77 deletions.
diff --git a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp b/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
@@ -172,7 +172,7 @@ AnalysisManager::AnalysisManager(TestData data, Settings& settings,
                                  wpi::Logger& logger)
     : m_data{std::move(data)}, m_logger{logger}, m_settings{settings} {
   // Reset settings for Dynamic Test Limits
-  m_settings.stepTestDuration = units::second_t{0.0};
+  m_settings.stepTestDuration = 0_s;
   m_settings.velocityThreshold = std::numeric_limits<double>::infinity();
 }
 

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
@@ -56,15 +56,12 @@ class TrapezoidProfileCommand
   void Initialize() override {}
 
   void Execute() override {
-    m_output(
-        m_profile.Calculate(units::second_t{0.02}, m_currentState(), m_goal()));
+    m_output(m_profile.Calculate(20_ms, m_currentState(), m_goal()));
   }
 
   void End(bool interrupted) override {}
 
-  bool IsFinished() override {
-    return m_profile.IsFinished(units::second_t{0});
-  }
+  bool IsFinished() override { return m_profile.IsFinished(0_s); }
 
  private:
   frc::TrapezoidProfile<Distance> m_profile;

diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp
@@ -18,11 +18,11 @@ TEST_F(NotifierCommandTest, NotifierCommandSchedule) {
   frc::sim::PauseTiming();
 
   int counter = 0;
-  NotifierCommand command([&] { counter++; }, 0.01_s, {});
+  NotifierCommand command([&] { counter++; }, 10_ms, {});
 
   scheduler.Schedule(&command);
   for (int i = 0; i < 5; ++i) {
-    frc::sim::StepTiming(0.005_s);
+    frc::sim::StepTiming(5_ms);
   }
   scheduler.Cancel(&command);
 

diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -818,7 +818,7 @@ units::degree_t ADIS16470_IMU::GetAngle(IMUAxis axis) const {
       break;
   }
 
-  return units::degree_t{0.0};
+  return 0_deg;
 }
 
 units::degrees_per_second_t ADIS16470_IMU::GetRate(IMUAxis axis) const {

diff --git a/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp b/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
@@ -264,7 +264,7 @@ void PneumaticsControlModule::UnreserveCompressor() {
 }
 
 units::volt_t PneumaticsControlModule::GetAnalogVoltage(int channel) const {
-  return units::volt_t{0};
+  return 0_V;
 }
 
 units::pounds_per_square_inch_t PneumaticsControlModule::GetPressure(

diff --git a/wpilibc/src/main/native/cpp/counter/Tachometer.cpp b/wpilibc/src/main/native/cpp/counter/Tachometer.cpp
@@ -45,7 +45,7 @@ Tachometer::~Tachometer() {
 units::hertz_t Tachometer::GetFrequency() const {
   auto period = GetPeriod();
   if (period.value() == 0) {
-    return units::hertz_t{0.0};
+    return 0_Hz;
   }
   return 1 / period;
 }
@@ -67,11 +67,11 @@ void Tachometer::SetEdgesPerRevolution(int edges) {
 units::turns_per_second_t Tachometer::GetRevolutionsPerSecond() const {
   auto period = GetPeriod();
   if (period.value() == 0) {
-    return units::turns_per_second_t{0.0};
+    return 0_tps;
   }
   int edgesPerRevolution = GetEdgesPerRevolution();
   if (edgesPerRevolution == 0) {
-    return units::turns_per_second_t{0.0};
+    return 0_tps;
   }
   auto rotationHz = ((1.0 / edgesPerRevolution) / period);
   return units::turns_per_second_t{rotationHz.value()};

diff --git a/wpilibc/src/main/native/include/frc/LEDPattern.h b/wpilibc/src/main/native/include/frc/LEDPattern.h
@@ -112,7 +112,7 @@ class LEDPattern {
    *
    *   frc::LEDPattern rainbow = frc::LEDPattern::Rainbow();
    *   frc::LEDPattern scrollingRainbow =
-   *     rainbow.ScrollAtAbsoluteSpeed(units::inches_per_second_t{4},
+   *     rainbow.ScrollAtAbsoluteSpeed(units::feet_per_second_t{1 / 3.0},
    * LED_SPACING);
    * </pre>
    *

diff --git a/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/EncoderSimTest.cpp
@@ -114,7 +114,7 @@ TEST(EncoderSimTest, SetMaxPeriod) {
   auto cb = sim.RegisterMaxPeriodCallback(callback.GetCallback(), false);
 
   WPI_IGNORE_DEPRECATED
-  encoder.SetMaxPeriod(units::second_t{123.456});
+  encoder.SetMaxPeriod(123.456_s);
   WPI_UNIGNORE_DEPRECATED
   EXPECT_EQ(123.456, sim.GetMaxPeriod());
 

diff --git a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp
@@ -54,7 +54,7 @@ class Robot : public frc::TimedRobot {
     m_flywheelSim.SetInputVoltage(
         m_flywheelMotor.Get() *
         units::volt_t{frc::RobotController::GetInputVoltage()});
-    m_flywheelSim.Update(0.02_s);
+    m_flywheelSim.Update(20_ms);
     m_encoderSim.SetRate(m_flywheelSim.GetAngularVelocity().value());
   }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h
@@ -24,7 +24,7 @@ inline constexpr bool kLeftEncoderReversed = false;
 inline constexpr bool kRightEncoderReversed = true;
 
 inline constexpr double kEncoderCPR = 1024;
-inline constexpr units::meter_t kWheelDiameter = 6.0_in;
+inline constexpr units::meter_t kWheelDiameter = 6_in;
 inline constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
     ((kWheelDiameter * std::numbers::pi) / kEncoderCPR).value();
@@ -45,9 +45,8 @@ namespace ShooterConstants {
 inline constexpr int kEncoderPorts[]{4, 5};
 inline constexpr bool kEncoderReversed = false;
 inline constexpr double kEncoderCPR = 1024;
-inline constexpr double kEncoderDistancePerPulse =
-    // Distance units will be rotations
-    1.0 / kEncoderCPR;
+// Distance units will be rotations
+inline constexpr double kEncoderDistancePerPulse = 1.0 / kEncoderCPR;
 
 inline constexpr int kShooterMotorPort = 4;
 inline constexpr int kFeederMotorPort = 5;
@@ -61,9 +60,8 @@ inline constexpr auto kShooterTolerance = 50_tps;
 inline constexpr double kP = 1;
 
 inline constexpr units::volt_t kS = 0.05_V;
-inline constexpr auto kV =
-    // Should have value 12V at free speed...
-    12.0_V / kShooterFree;
+// Should have value 12V at free speed
+inline constexpr auto kV = 12_V / kShooterFree;
 
 inline constexpr double kFeederSpeed = 0.5;
 }  // namespace ShooterConstants
@@ -73,7 +71,7 @@ inline constexpr int kDriverControllerPort = 0;
 }  // namespace OIConstants
 
 namespace AutoConstants {
-constexpr units::second_t kTimeout = 3.0_s;
-constexpr units::meter_t kDriveDistance = 2.0_m;
+constexpr units::second_t kTimeout = 3_s;
+constexpr units::meter_t kDriveDistance = 2_m;
 constexpr double kDriveSpeed = 0.5;
 }  // namespace AutoConstants
diff --git a/...Examples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java b/...Examples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java
@@ -37,9 +37,8 @@ public static final class ShooterConstants {
     public static final int[] kEncoderPorts = {4, 5};
     public static final boolean kEncoderReversed = false;
     public static final int kEncoderCPR = 1024;
-    public static final double kEncoderDistancePerPulse =
-        // Distance units will be rotations
-        1.0 / kEncoderCPR;
+    // Distance units will be rotations
+    public static final double kEncoderDistancePerPulse = 1.0 / kEncoderCPR;
 
     public static final int kShooterMotorPort = 4;
     public static final int kFeederMotorPort = 5;
@@ -54,9 +53,8 @@ public static final class ShooterConstants {
     // On a real robot the feedforward constants should be empirically determined; these are
     // reasonable guesses.
     public static final double kSVolts = 0.05;
-    public static final double kVVoltSecondsPerRotation =
-        // Should have value 12V at free speed...
-        12.0 / kShooterFreeRPS;
+    // Should have value 12V at free speed
+    public static final double kVVoltSecondsPerRotation = 12.0 / kShooterFreeRPS;
 
     public static final double kFeederSpeed = 0.5;
   }

diff --git a/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp b/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp
@@ -25,8 +25,8 @@ TEST(ControlAffinePlantInversionFeedforwardTest, Calculate) {
   std::function<Vectord<2>(const Vectord<2>&, const Vectord<1>&)>
       modelDynamics = [](auto& x, auto& u) { return Dynamics(x, u); };
 
-  frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{
-      modelDynamics, units::second_t{0.02}};
+  frc::ControlAffinePlantInversionFeedforward<2, 1> feedforward{modelDynamics,
+                                                                20_ms};
 
   Vectord<2> r{2, 2};
   Vectord<2> nextR{3, 3};

diff --git a/wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp b/wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
@@ -36,7 +36,7 @@ TEST(HolonomicDriveControllerTest, ReachesReference) {
   auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
       waypoints, {8.0_mps, 4.0_mps_sq});
 
-  constexpr auto kDt = 0.02_s;
+  constexpr units::second_t kDt = 20_ms;
   auto totalTime = trajectory.TotalTime();
   for (size_t i = 0; i < (totalTime / kDt).value(); ++i) {
     auto state = trajectory.Sample(kDt * i);

diff --git a/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp b/wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
@@ -62,7 +62,7 @@ frc::Vectord<5> Dynamics(const frc::Vectord<5>& x, const frc::Vectord<2>& u) {
 }
 
 TEST(LTVDifferentialDriveControllerTest, ReachesReference) {
-  constexpr auto kDt = 0.02_s;
+  constexpr units::second_t kDt = 20_ms;
 
   frc::LTVDifferentialDriveController controller{
       plant, kTrackwidth, {0.0625, 0.125, 2.5, 0.95, 0.95}, {12.0, 12.0}, kDt};

diff --git a/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp b/wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
@@ -17,7 +17,7 @@ static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
                                                    180.0};
 
 TEST(LTVUnicycleControllerTest, ReachesReference) {
-  constexpr auto kDt = 0.02_s;
+  constexpr units::second_t kDt = 20_ms;
 
   frc::LTVUnicycleController controller{{0.0625, 0.125, 2.5}, {4.0, 4.0}, kDt};
   frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};

diff --git a/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp b/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
@@ -180,9 +180,9 @@ TEST(LinearQuadraticRegulatorTest, LatencyCompensate) {
 
     return frc::LinearSystemId::ElevatorSystem(motors, m, r, G).Slice(0);
   }();
-  LinearQuadraticRegulator<2, 1> controller{plant, {0.1, 0.2}, {12.0}, 0.02_s};
+  LinearQuadraticRegulator<2, 1> controller{plant, {0.1, 0.2}, {12.0}, 20_ms};
 
-  controller.LatencyCompensate(plant, 0.02_s, 0.01_s);
+  controller.LatencyCompensate(plant, 20_ms, 10_ms);
 
   EXPECT_NEAR(8.97115941, controller.K(0, 0), 1e-3);
   EXPECT_NEAR(0.07904881, controller.K(0, 1), 1e-3);

diff --git a/wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp b/wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
@@ -29,7 +29,7 @@ TEST(RamseteControllerTest, ReachesReference) {
   auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
       waypoints, {8.8_mps, 0.1_mps_sq});
 
-  constexpr auto kDt = 0.02_s;
+  constexpr units::second_t kDt = 20_ms;
   auto totalTime = trajectory.TotalTime();
   for (size_t i = 0; i < (totalTime / kDt).value(); ++i) {
     auto state = trajectory.Sample(kDt * i);

diff --git a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
@@ -167,8 +167,8 @@ TEST(DifferentialDrivePoseEstimatorTest, Accuracy) {
                                   state.velocity * state.curvature};
       },
       [&](frc::Trajectory::State& state) { return state.pose; },
-      trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 0.02_s,
-      0.1_s, 0.25_s, true, false);
+      trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms,
+      100_ms, 250_ms, true, false);
 }
 
 TEST(DifferentialDrivePoseEstimatorTest, BadInitialPose) {
@@ -205,8 +205,8 @@ TEST(DifferentialDrivePoseEstimatorTest, BadInitialPose) {
                                       state.velocity * state.curvature};
           },
           [&](frc::Trajectory::State& state) { return state.pose; },
-          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 0.02_s, 0.1_s,
-          0.25_s, false, false);
+          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
+          250_ms, false, false);
     }
   }
 }
@@ -275,7 +275,7 @@ TEST(DifferentialDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
       {0.1, 0.1, 0.1}, {0.45, 0.45, 0.45}};
 
   // Add enough measurements to fill up the buffer
-  for (auto time = 0.0_s; time < 4_s; time += 0.02_s) {
+  for (auto time = 0_s; time < 4_s; time += 20_ms) {
     estimator.UpdateWithTime(time, frc::Rotation2d{}, 0_m, 0_m);
   }
 

diff --git a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
@@ -162,8 +162,8 @@ TEST(MecanumDrivePoseEstimatorTest, AccuracyFacingTrajectory) {
                                   state.velocity * state.curvature};
       },
       [&](frc::Trajectory::State& state) { return state.pose; },
-      trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 0.02_s,
-      0.1_s, 0.25_s, true, false);
+      trajectory.InitialPose(), {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms,
+      100_ms, 250_ms, true, false);
 }
 
 TEST(MecanumDrivePoseEstimatorTest, BadInitialPose) {
@@ -204,8 +204,8 @@ TEST(MecanumDrivePoseEstimatorTest, BadInitialPose) {
                                       state.velocity * state.curvature};
           },
           [&](frc::Trajectory::State& state) { return state.pose; },
-          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 0.02_s, 0.1_s,
-          0.25_s, false, false);
+          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
+          250_ms, false, false);
     }
   }
 }
@@ -276,7 +276,7 @@ TEST(MecanumDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
       frc::Pose2d{}, {0.1, 0.1, 0.1},   {0.45, 0.45, 0.45}};
 
   // Add enough measurements to fill up the buffer
-  for (auto time = 0.0_s; time < 4_s; time += 0.02_s) {
+  for (auto time = 0_s; time < 4_s; time += 20_ms) {
     estimator.UpdateWithTime(time, frc::Rotation2d{},
                              frc::MecanumDriveWheelPositions{});
   }

diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
@@ -169,7 +169,7 @@ TEST(SwerveDrivePoseEstimatorTest, AccuracyFacingTrajectory) {
       },
       [&](frc::Trajectory::State& state) { return state.pose; },
       {0_m, 0_m, frc::Rotation2d{45_deg}}, {0_m, 0_m, frc::Rotation2d{45_deg}},
-      0.02_s, 0.1_s, 0.25_s, true, false);
+      20_ms, 100_ms, 250_ms, true, false);
 }
 
 TEST(SwerveDrivePoseEstimatorTest, BadInitialPose) {
@@ -213,8 +213,8 @@ TEST(SwerveDrivePoseEstimatorTest, BadInitialPose) {
                                       state.velocity * state.curvature};
           },
           [&](frc::Trajectory::State& state) { return state.pose; },
-          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 0.02_s, 0.1_s,
-          0.25_s, false, false);
+          initial_pose, {0_m, 0_m, frc::Rotation2d{45_deg}}, 20_ms, 100_ms,
+          250_ms, false, false);
     }
   }
 }
@@ -293,7 +293,7 @@ TEST(SwerveDrivePoseEstimatorTest, TestDiscardStaleVisionMeasurements) {
       frc::Pose2d{}, {0.1, 0.1, 0.1},   {0.45, 0.45, 0.45}};
 
   // Add enough measurements to fill up the buffer
-  for (auto time = 0.0_s; time < 4_s; time += 0.02_s) {
+  for (auto time = 0_s; time < 4_s; time += 20_ms) {
     estimator.UpdateWithTime(time, frc::Rotation2d{}, {fl, fr, bl, br});
   }
 

diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
@@ -97,7 +97,7 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 0.02_s;
+  units::second_t dt = 20_ms;
   units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
@@ -160,7 +160,7 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingXAxis) {
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 0.02_s;
+  units::second_t dt = 20_ms;
   units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();

diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
@@ -93,7 +93,7 @@ TEST_F(SwerveDriveOdometryTest, AccuracyFacingTrajectory) {
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 0.02_s;
+  units::second_t dt = 20_ms;
   units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();
@@ -157,7 +157,7 @@ TEST_F(SwerveDriveOdometryTest, AccuracyFacingXAxis) {
   std::default_random_engine generator;
   std::normal_distribution<double> distribution(0.0, 1.0);
 
-  units::second_t dt = 0.02_s;
+  units::second_t dt = 20_ms;
   units::second_t t = 0_s;
 
   double maxError = -std::numeric_limits<double>::max();

diff --git a/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp b/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
@@ -9,17 +9,10 @@
 
 using namespace frc;
 
-namespace {
-
 using ProtoType = wpi::Protobuf<frc::DCMotor>;
 
-const DCMotor kExpectedData = DCMotor{units::volt_t{1.91},
-                                      units::newton_meter_t{19.1},
-                                      units::ampere_t{1.74},
-                                      units::ampere_t{2.29},
-                                      units::radians_per_second_t{2.2},
-                                      2};
-}  // namespace
+inline constexpr DCMotor kExpectedData =
+    DCMotor{1.91_V, 19.1_Nm, 1.74_A, 2.29_A, 2.2_rad_per_s, 2};
 
 TEST(DCMotorProtoTest, Roundtrip) {
   google::protobuf::Arena arena;
-Original file line number
+Diff line change
@@ Expand Up @@
           break;
       }
-      return units::degree_t{0.0};
+      return 0_deg;
     }
     units::degrees_per_second_t ADIS16470_IMU::GetRate(IMUAxis axis) const {
@@ Expand Down @@