update example code

Advay17 · Nov 13, 2024 · 31760a7 · 31760a7
1 parent e62b321
commit 31760a7
Show file tree

Hide file tree

Showing 2 changed files with 23 additions and 21 deletions.
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
@@ -63,27 +63,27 @@ units::meter_t Drivetrain::GetAverageDistance() {
   return (GetLeftDistance() + GetRightDistance()) / 2.0;
 }
 
-double Drivetrain::GetAccelX() {
-  return m_accelerometer.GetX();
+units::meters_per_second_squared_t Drivetrain::GetAccelX() {
+  return units::meters_per_second_squared_t{m_accelerometer.GetX()};
 }
 
-double Drivetrain::GetAccelY() {
-  return m_accelerometer.GetY();
+units::meters_per_second_squared_t Drivetrain::GetAccelY() {
+  return units::meters_per_second_squared_t{m_accelerometer.GetY()};
 }
 
-double Drivetrain::GetAccelZ() {
-  return m_accelerometer.GetZ();
+units::meters_per_second_squared_t Drivetrain::GetAccelZ() {
+  return units::meters_per_second_squared_t{m_accelerometer.GetZ()};
 }
 
-double Drivetrain::GetGyroAngleX() {
+units::radian_t Drivetrain::GetGyroAngleX() {
   return m_gyro.GetAngleX();
 }
 
-double Drivetrain::GetGyroAngleY() {
+units::radian_t Drivetrain::GetGyroAngleY() {
   return m_gyro.GetAngleY();
 }
 
-double Drivetrain::GetGyroAngleZ() {
+units::radian_t Drivetrain::GetGyroAngleZ() {
   return m_gyro.GetAngleZ();
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
@@ -10,6 +10,8 @@
 #include <frc/motorcontrol/Spark.h>
 #include <frc/romi/RomiGyro.h>
 #include <frc2/command/SubsystemBase.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
 #include <units/length.h>
 
 class Drivetrain : public frc2::SubsystemBase {
@@ -73,34 +75,34 @@ class Drivetrain : public frc2::SubsystemBase {
   units::meter_t GetAverageDistance();
 
   /**
-   * Returns the acceleration along the X-axis, in Gs.
+   * Returns the acceleration along the X-axis.
    */
-  double GetAccelX();
+  units::meters_per_second_squared_t GetAccelX();
 
   /**
-   * Returns the acceleration along the Y-axis, in Gs.
+   * Returns the acceleration along the Y-axis.
    */
-  double GetAccelY();
+  units::meters_per_second_squared_t GetAccelY();
 
   /**
-   * Returns the acceleration along the Z-axis, in Gs.
+   * Returns the acceleration along the Z-axis.
    */
-  double GetAccelZ();
+  units::meters_per_second_squared_t GetAccelZ();
 
   /**
-   * Returns the current angle of the Romi around the X-axis, in degrees.
+   * Returns the current angle of the Romi around the X-axis.
    */
-  double GetGyroAngleX();
+  units::radian_t GetGyroAngleX();
 
   /**
-   * Returns the current angle of the Romi around the Y-axis, in degrees.
+   * Returns the current angle of the Romi around the Y-axis.
    */
-  double GetGyroAngleY();
+  units::radian_t GetGyroAngleY();
 
   /**
-   * Returns the current angle of the Romi around the Z-axis, in degrees.
+   * Returns the current angle of the Romi around the Z-axis.
    */
-  double GetGyroAngleZ();
+  units::radian_t GetGyroAngleZ();
 
   /**
    * Reset the gyro.