Fix build errors

alexDickhans · Jul 26, 2022 · a05256c · a05256c
1 parent 1721097
commit a05256c
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Showing 10 changed files with 40 additions and 39 deletions.
diff --git a/include/odometry/continuousOdometry/mecanumOdometry.hpp b/include/odometry/continuousOdometry/mecanumOdometry.hpp
@@ -21,12 +21,12 @@ namespace Pronounce {
 
         pros::Imu* imu;
 
-        double xOffset;
-        double yOffset;
+        QLength xOffset;
+        QLength yOffset;
     public:
         MecanumOdometry();
-        MecanumOdometry(double xOffset, double yOffset);
-        MecanumOdometry(OdomWheel* wheel1, OdomWheel* wheel2, OdomWheel* wheel3, OdomWheel* wheel4, pros::Imu* imu, double xOffset, double yOffset);
+        MecanumOdometry(QLength xOffset, QLength yOffset);
+        MecanumOdometry(OdomWheel* wheel1, OdomWheel* wheel2, OdomWheel* wheel3, OdomWheel* wheel4, pros::Imu* imu, QLength xOffset, QLength yOffset);
 
         void update();
 
@@ -45,7 +45,7 @@ namespace Pronounce {
          * 
          * @param xOffset 
          */
-        void setXOffset(double xOffset) {
+        void setXOffset(QLength xOffset) {
             this->xOffset = xOffset;
         }
 
@@ -54,7 +54,7 @@ namespace Pronounce {
          * 
          * @return double 
          */
-        double getXOffset() {
+        QLength getXOffset() {
             return xOffset;
         }
 
@@ -63,7 +63,7 @@ namespace Pronounce {
          * 
          * @param yOffset 
          */
-        void setYOffset(double yOffset) {
+        void setYOffset(QLength yOffset) {
             this->yOffset = yOffset;
         }
 
@@ -72,7 +72,7 @@ namespace Pronounce {
          * 
          * @return double 
          */
-        double getYOffset() {
+        QLength getYOffset() {
             return yOffset;
         }
 

diff --git a/include/position/avgOdom.hpp b/include/position/avgOdom.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "odomWheel.hpp"
+#include "units/units.hpp"
 #include <vector>
 
 namespace Pronounce {
@@ -22,8 +23,8 @@ namespace Pronounce {
         /**
          * Get the distance at the current moment
          */
-        double getPosition() {
-            double total = 0;
+        QLength getPosition() {
+            QLength total = 0.0;
             for (int i = 0; i < odomWheels.size(); i++) {
                 total += odomWheels.at(i).getPosition();
             }
@@ -38,8 +39,8 @@ namespace Pronounce {
             }
         }
 
-        double getChange() {
-            double total = 0;
+        QLength getChange() {
+            QLength total = 0.0;
 			for (int i = 0; i < odomWheels.size(); i++) {
                 total += odomWheels.at(i).getChange();
             }

diff --git a/include/position/odomWheel.hpp b/include/position/odomWheel.hpp
@@ -11,8 +11,8 @@ namespace Pronounce {
      */
     class OdomWheel {
     private:
-        QLength position = 0;
-        QLength lastPosition = 0;
+        QLength position = 0.0;
+        QLength lastPosition = 0.0;
 
         QLength radius;
 
@@ -22,8 +22,8 @@ namespace Pronounce {
         OdomWheel(double radius);
 
         virtual void reset() {
-            position = 0;
-            lastPosition = 0;
+            position = 0.0;
+            lastPosition = 0.0;
         }
 
         QLength getRadius() {

diff --git a/include/position/threeWireOdomWheel.hpp b/include/position/threeWireOdomWheel.hpp
@@ -12,7 +12,7 @@ namespace Pronounce {
         AdiOdomWheel(pros::ADIEncoder* encoder);
 
         void update() {
-            this->setPosition((encoder->get_value()/360.0) * this->getRadius() * M_PI * 2.0 * this->getTuningFactor());
+            this->setPosition((encoder->get_value()/360.0) * this->getRadius().Convert(metre) * 1_pi * 2.0 * this->getTuningFactor());
         }
 
         void reset() {

diff --git a/include/position/trackingWheel.hpp b/include/position/trackingWheel.hpp
@@ -19,7 +19,7 @@ namespace Pronounce
         }
 
         void update() {
-            this->setPosition(((rotationSensor->get_position() / 100.0)/360.0) * this->getRadius() * M_PI * 2.0 * this->getTuningFactor());
+            this->setPosition(((rotationSensor->get_position() / 100.0)/360.0) * this->getRadius().getValue() * 1_pi * 2.0 * this->getTuningFactor());
         }
 
         ~TrackingWheel();

diff --git a/src/odometry/continuousOdometry/mecanumOdometry.cpp b/src/odometry/continuousOdometry/mecanumOdometry.cpp
@@ -4,12 +4,12 @@ namespace Pronounce {
     MecanumOdometry::MecanumOdometry(/* args */) {
     }
 
-    MecanumOdometry::MecanumOdometry(double xOffset, double yOffset) {
+    MecanumOdometry::MecanumOdometry(QLength xOffset, QLength yOffset) {
         this->xOffset = xOffset;
         this->yOffset = yOffset;
     }
 
-    MecanumOdometry::MecanumOdometry(OdomWheel* wheel1, OdomWheel* wheel2, OdomWheel* wheel3, OdomWheel* wheel4, pros::Imu* imu, double xOffset, double yOffset) : MecanumOdometry(xOffset, yOffset) {
+    MecanumOdometry::MecanumOdometry(OdomWheel* wheel1, OdomWheel* wheel2, OdomWheel* wheel3, OdomWheel* wheel4, pros::Imu* imu, QLength xOffset, QLength yOffset) : MecanumOdometry(xOffset, yOffset) {
         this->wheel1 = wheel1;
         this->wheel2 = wheel2;
         this->wheel3 = wheel3;
@@ -31,10 +31,10 @@ namespace Pronounce {
         Angle angleChange = 0.0;
         Angle lastAngle = lastPose->getAngle();
 
-        double deltaWheel1 = wheel1->getChange();
-        double deltaWheel2 = wheel2->getChange();
-        double deltaWheel3 = wheel3->getChange();
-        double deltaWheel4 = wheel4->getChange();
+        QLength deltaWheel1 = wheel1->getChange();
+        QLength deltaWheel2 = wheel2->getChange();
+        QLength deltaWheel3 = wheel3->getChange();
+        QLength deltaWheel4 = wheel4->getChange();
 
         if (useImu && imu != nullptr) {
             if (imu->is_calibrating()) {
@@ -52,7 +52,7 @@ namespace Pronounce {
             // Use the wheel encoders to determine orientation
 
             // Calculate the orientation since last reset
-            Angle currentAngle = (-wheel1->getPosition() + wheel2->getPosition() - wheel3->getPosition() + wheel4->getPosition()) / (4 * xOffset, yOffset);
+            Angle currentAngle = (-wheel1->getPosition() + wheel2->getPosition() - wheel3->getPosition() + wheel4->getPosition()).getValue() / (4 * xOffset, yOffset).getValue();
 
             angleChange = currentAngle - lastAngle;
 

diff --git a/src/odometry/continuousOdometry/threeWheelOdom.cpp b/src/odometry/continuousOdometry/threeWheelOdom.cpp
@@ -27,32 +27,32 @@ namespace Pronounce {
 		backWheel->update();
 
 		// Get the current movement of odometry wheels
-		double deltaLeft = leftWheel->getChange();
-		double deltaRight = rightWheel->getChange();
-		double deltaBack = backWheel->getChange();
+		QLength deltaLeft = leftWheel->getChange();
+		QLength deltaRight = rightWheel->getChange();
+		QLength deltaBack = backWheel->getChange();
 
 		// Get the last robot position
 		Pose2D* lastPose = this->getPose();
 
 		// Calculate the change in orientation
 		Angle lastAngle = lastPose->getAngle();
-		Angle currentAngle = 0;
+		Angle currentAngle = 0.0;
 
 		if (useImu && imu != nullptr) {
 			currentAngle = toRadians(imu->get_rotation());
 		}
 		else {
-			currentAngle = this->getResetPose()->getAngle().getValue() + (leftWheel->getPosition() - rightWheel->getPosition()) / (leftOffset + rightOffset);
+			currentAngle = this->getResetPose()->getAngle().getValue() + (leftWheel->getPosition() - rightWheel->getPosition()).getValue() / (leftOffset + rightOffset).getValue();
 		}
 
-		Angle deltaAngle = (deltaLeft - deltaRight) / (leftOffset + rightOffset);
+		Angle deltaAngle = (deltaLeft - deltaRight).getValue() / (leftOffset + rightOffset).getValue();
 		Angle averageOrientation = lastAngle + (deltaAngle / 2);
 
 		Point localOffset;
 
 		if (deltaAngle.Convert(radian) != 0.0) {
 			double rotationAdjustment = 2 * sin(deltaAngle / 2);
-			localOffset = Point(((deltaBack/deltaAngle) + backOffset) * rotationAdjustment, ((deltaRight/deltaAngle) + rightOffset) * rotationAdjustment);
+			localOffset = Point(((deltaBack/deltaAngle).getValue() + backOffset.getValue()) * rotationAdjustment, ((deltaRight/deltaAngle).getValue() + rightOffset.getValue()) * rotationAdjustment);
 		} else {
 			// Calculate the local offset then translate it to the global offset
 			localOffset = Point(deltaBack, deltaRight);
@@ -66,7 +66,7 @@ namespace Pronounce {
 
 		// Add localOffset to the global offset
 		lastPose->add(localOffset);
-		lastPose->setAngle(fmod(angleDifference(currentAngle, 0) + M_PI * 2, M_PI * 2));
+		lastPose->setAngle(fmod(angleDifference(currentAngle.Convert(radian), 0) + M_PI * 2, M_PI * 2));
 
 		if (Vector(&localOffset).getMagnitude() > maxMovement && maxMovement.Convert(metre) != 0.0) {
 			return;

diff --git a/src/position/motorOdom.cpp b/src/position/motorOdom.cpp
@@ -10,6 +10,6 @@ namespace Pronounce {
     }
 
     void MotorOdom::update() {
-        this->setPosition(motor->get_position() * this->getRadius() * M_PI * 2.0 * this->getTuningFactor());
+        this->setPosition(motor->get_position() * this->getRadius().Convert(metre) * 1_pi * 2.0 * this->getTuningFactor());
     }
 } // namespace Pronounce
diff --git a/src/utils/position.cpp b/src/utils/position.cpp
@@ -2,15 +2,15 @@
 
 namespace Pronounce {
     Pose2D::Pose2D() : Point() {
-        this->angle = 0;
+        this->angle = 0.0;
     }
 
     Pose2D::Pose2D(double angle) : Point() {
         this->angle = angle;
     }
 
     Pose2D::Pose2D(double x, double y) : Point(x, y) {
-        this->angle = 0;
+        this->angle = 0.0;
     }
 
     Pose2D::Pose2D(double x, double y, double angle) : Point(x, y) {

diff --git a/src/utils/vector.cpp b/src/utils/vector.cpp
@@ -2,8 +2,8 @@
 
 namespace Pronounce {
     Vector::Vector() {
-        this->magnitude = 0;
-        this->angle = 0;
+        this->magnitude = 0.0;
+        this->angle = 0.0;
     }
 
     Vector::Vector(QLength magnitude, Angle angle) {
@@ -55,7 +55,7 @@ namespace Pronounce {
     Vector Vector::scale(double scalar) {
         Vector vector = Vector(*this);
 
-        vector.setMagnitude(vector.getMagnitude() * scalar);
+        vector.setMagnitude(vector.getMagnitude().getValue() * scalar);
 
         return vector;
     }