Replace use of deprecated C Standard library headers in C++ code.
Change-Id: I9fa6630c7e4bdb2897df34d417635d8c7d8253bc
Signed-off-by: Tyler Chatow <tchatow@gmail.com>
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index e3175af..8c8560a 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -1,15 +1,16 @@
-#include <inttypes.h>
-#include <stdio.h>
-#include <string.h>
#include <unistd.h>
#include <array>
#include <chrono>
+#include <cinttypes>
#include <cmath>
+#include <cstdio>
+#include <cstring>
#include <functional>
-#include <thread>
#include <memory>
+#include <thread>
+#include "ctre/phoenix/CANifier.h"
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
@@ -18,7 +19,6 @@
#include "frc971/wpilib/ahal/Relay.h"
#include "frc971/wpilib/ahal/Servo.h"
#include "frc971/wpilib/ahal/VictorSP.h"
-#include "ctre/phoenix/CANifier.h"
#undef ERROR
#include "aos/commonmath.h"
@@ -55,8 +55,8 @@
#define M_PI 3.14159265358979323846
#endif
-using std::make_unique;
using ::aos::monotonic_clock;
+using std::make_unique;
using ::y2018::constants::Values;
namespace chrono = ::std::chrono;
namespace superstructure = ::y2018::control_loops::superstructure;
@@ -262,7 +262,8 @@
box_back_beambreak_ = ::std::move(input);
}
- void set_lidar_lite_input(::std::unique_ptr<frc::DigitalInput> lidar_lite_input) {
+ void set_lidar_lite_input(
+ ::std::unique_ptr<frc::DigitalInput> lidar_lite_input) {
lidar_lite_input_ = ::std::move(lidar_lite_input);
lidar_lite_.set_input(lidar_lite_input_.get());
}
@@ -277,17 +278,17 @@
drivetrain_builder.add_left_encoder(
drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
- drivetrain_builder.add_left_speed (
+ drivetrain_builder.add_left_speed(
drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
- drivetrain_builder.add_left_shifter_position (
+ drivetrain_builder.add_left_shifter_position(
drivetrain_shifter_pot_translate(
left_drivetrain_shifter_->GetVoltage()));
- drivetrain_builder.add_right_encoder (
+ drivetrain_builder.add_right_encoder(
-drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
- drivetrain_builder.add_right_speed (
- -drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod()));
- drivetrain_builder.add_right_shifter_position (
+ drivetrain_builder.add_right_speed(-drivetrain_velocity_translate(
+ drivetrain_right_encoder_->GetPeriod()));
+ drivetrain_builder.add_right_shifter_position(
drivetrain_shifter_pot_translate(
right_drivetrain_shifter_->GetVoltage()));
@@ -299,8 +300,7 @@
const auto values = constants::GetValues();
{
- auto builder =
- superstructure_position_sender_.MakeBuilder();
+ auto builder = superstructure_position_sender_.MakeBuilder();
// Proximal arm
frc971::PotAndAbsolutePositionT arm_proximal;
@@ -330,8 +330,7 @@
// Left intake
frc971::PotAndAbsolutePositionT left_intake_motor_position;
- CopyPosition(left_intake_encoder_,
- &left_intake_motor_position,
+ CopyPosition(left_intake_encoder_, &left_intake_motor_position,
Values::kIntakeMotorEncoderCountsPerRevolution(),
Values::kIntakeMotorEncoderRatio(), intake_pot_translate,
false, values.left_intake.potentiometer_offset);
@@ -342,15 +341,14 @@
// Right intake
frc971::PotAndAbsolutePositionT right_intake_motor_position;
- CopyPosition(right_intake_encoder_,
- &right_intake_motor_position,
+ CopyPosition(right_intake_encoder_, &right_intake_motor_position,
Values::kIntakeMotorEncoderCountsPerRevolution(),
Values::kIntakeMotorEncoderRatio(), intake_pot_translate,
true, values.right_intake.potentiometer_offset);
flatbuffers::Offset<frc971::PotAndAbsolutePosition>
right_intake_motor_position_offset =
- frc971::PotAndAbsolutePosition::Pack(*builder.fbb(),
- &right_intake_motor_position);
+ frc971::PotAndAbsolutePosition::Pack(
+ *builder.fbb(), &right_intake_motor_position);
superstructure::IntakeElasticSensors::Builder
left_intake_sensors_builder =
@@ -780,8 +778,8 @@
// Thread 4.
::aos::ShmEventLoop imu_event_loop(&config.message());
auto imu_trigger = make_unique<frc::DigitalInput>(5);
- ::frc971::wpilib::ADIS16448 imu(&imu_event_loop, frc::SPI::Port::kOnboardCS1,
- imu_trigger.get());
+ ::frc971::wpilib::ADIS16448 imu(
+ &imu_event_loop, frc::SPI::Port::kOnboardCS1, imu_trigger.get());
imu.SetDummySPI(frc::SPI::Port::kOnboardCS2);
auto imu_reset = make_unique<frc::DigitalOutput>(6);
imu.set_reset(imu_reset.get());