update Romi for parity with XRP

romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp

@@ -24,60 +24,60 @@ RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
   }
 }
 
-double RomiGyro::GetAngle() const {
+units::radian_t RomiGyro::GetAngle() const {
   return GetAngleZ();
 }
 
-double RomiGyro::GetRate() const {
+units::radians_per_second_t RomiGyro::GetRate() const {
   return GetRateZ();
 }
 
-double RomiGyro::GetRateX() const {
+units::radians_per_second_t RomiGyro::GetRateX() const {
   if (m_simRateX) {
-    return m_simRateX.Get();
+    return units::degrees_per_second_t{m_simRateX.Get()};
   }
 
-  return 0.0;
+  return 0.0_rad_per_s;
 }
 
-double RomiGyro::GetRateY() const {
+units::radians_per_second_t RomiGyro::GetRateY() const {
   if (m_simRateY) {
-    return m_simRateY.Get();
+    return units::degrees_per_second_t{m_simRateY.Get()};
   }
 
-  return 0.0;
+  return 0.0_rad_per_s;
 }
 
-double RomiGyro::GetRateZ() const {
+units::radians_per_second_t RomiGyro::GetRateZ() const {
   if (m_simRateZ) {
-    return m_simRateZ.Get();
+    return units::degrees_per_second_t{m_simRateZ.Get()};
   }
 
-  return 0.0;
+  return 0.0_rad_per_s;
 }
 
-double RomiGyro::GetAngleX() const {
+units::radian_t RomiGyro::GetAngleX() const {
   if (m_simAngleX) {
-    return m_simAngleX.Get() - m_angleXOffset;
+    return units::degree_t{m_simAngleX.Get() - m_angleXOffset};
   }
 
-  return 0.0;
+  return 0.0_rad;
 }
 
-double RomiGyro::GetAngleY() const {
+units::radian_t RomiGyro::GetAngleY() const {
   if (m_simAngleY) {
-    return m_simAngleY.Get() - m_angleYOffset;
+    return units::degree_t{m_simAngleY.Get() - m_angleYOffset};
   }
 
-  return 0.0;
+  return 0.0_rad;
 }
 
-double RomiGyro::GetAngleZ() const {
+units::radian_t RomiGyro::GetAngleZ() const {
   if (m_simAngleZ) {
-    return m_simAngleZ.Get() - m_angleZOffset;
+    return units::degree_t{m_simAngleZ.Get() - m_angleZOffset};
   }
 
-  return 0.0;
+  return 0.0_rad;
 }
 
 void RomiGyro::Reset() {

romiVendordep/src/main/native/include/frc/romi/RomiGyro.h

@@ -5,6 +5,8 @@
 #pragma once
 
 #include <hal/SimDevice.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
 
 namespace frc {
 
@@ -24,55 +26,67 @@ class RomiGyro {
   RomiGyro();
 
   /**
-   * Return the actual angle in degrees that the robot is currently facing.
+   * Return the actual angle in radians that the robot is currently facing.
    *
    * The angle is based on integration of the returned rate form the gyro.
-   * The angle is continuous, that is, it will continue from 360->361 degrees.
+   * The angle is continuous, that is, it will continue from 2π->3π radians.
    * This allows algorithms that wouldn't want to see a discontinuity in the
-   * gyro output as it sweeps from 360 to 0 on the second time around.
+   * gyro output as it sweeps from 2π to 0 on the second time around.
    *
-   * @return the current heading of the robot in degrees.
+   * @return The current heading of the robot.
    */
-  double GetAngle() const;
+  units::radian_t GetAngle() const;
 
   /**
    * Return the rate of rotation of the gyro
    *
    * The rate is based on the most recent reading of the gyro.
    *
-   * @return the current rate in degrees per second
+   * @return The current rate.
    */
-  double GetRate() const;
+  units::radians_per_second_t GetRate() const;
 
   /**
-   * Gets the rate of turn in degrees-per-second around the X-axis
+   * Get the rate of turn in around the X-axis.
+   *
+   * @return Rate of turn.
    */
-  double GetRateX() const;
+  units::radians_per_second_t GetRateX() const;
 
   /**
-   * Gets the rate of turn in degrees-per-second around the Y-axis
+   * Get the rate of turn in around the Y-axis.
+   *
+   * @return Rate of turn.
    */
-  double GetRateY() const;
+  units::radians_per_second_t GetRateY() const;
 
   /**
-   * Gets the rate of turn in degrees-per-second around the Z-axis
+   * Get the rate of turn around the Z-axis.
+   *
+   * @return Rate of turn.
    */
-  double GetRateZ() const;
+  units::radians_per_second_t GetRateZ() const;
 
   /**
-   * Gets the currently reported angle around the X-axis
+   * Get the currently reported angle around the X-axis.
+   *
+   * @return Current angle around X-axis.
    */
-  double GetAngleX() const;
+  units::radian_t GetAngleX() const;
 
   /**
-   * Gets the currently reported angle around the X-axis
+   * Get the currently reported angle around the Y-axis.
+   *
+   * @return Current angle around Y-axis.
    */
-  double GetAngleY() const;
+  units::radian_t GetAngleY() const;
 
   /**
-   * Gets the currently reported angle around the X-axis
+   * Get the currently reported angle around the Z-axis.
+   *
+   * @return Current angle around Z-axis.
    */
-  double GetAngleZ() const;
+  units::radian_t GetAngleZ() const;
 
   /**
    * Resets the gyro

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();
 }
 

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 +75,46 @@ class Drivetrain : public frc2::SubsystemBase {
   units::meter_t GetAverageDistance();
 
   /**
-   * Returns the acceleration along the X-axis, in Gs.
+   * The acceleration in the X-axis.
+   *
+   * @return The acceleration of the Romi along the X-axis.
    */
-  double GetAccelX();
+  units::meters_per_second_squared_t GetAccelX();
 
   /**
-   * Returns the acceleration along the Y-axis, in Gs.
+   * The acceleration in the Y-axis.
+   *
+   * @return The acceleration of the Romi along the Y-axis.
    */
-  double GetAccelY();
+  units::meters_per_second_squared_t GetAccelY();
 
   /**
-   * Returns the acceleration along the Z-axis, in Gs.
+   * The acceleration in the Z-axis.
+   *
+   * @return The acceleration of the Romi 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.
+   * Current angle of the Romi around the X-axis.
+   *
+   * @return The current angle of the Romi.
    */
-  double GetGyroAngleX();
+  units::radian_t GetGyroAngleX();
 
   /**
-   * Returns the current angle of the Romi around the Y-axis, in degrees.
+   * Current angle of the Romi around the Y-axis.
+   *
+   * @return The current angle of the Romi.
    */
-  double GetGyroAngleY();
+  units::radian_t GetGyroAngleY();
 
   /**
-   * Returns the current angle of the Romi around the Z-axis, in degrees.
+   * Current angle of the Romi around the Z-axis.
+   *
+   * @return The current angle of the Romi.
    */
-  double GetGyroAngleZ();
+  units::radian_t GetGyroAngleZ();
 
   /**
    * Reset the gyro.