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[wombat] Refactor to use namespaces #34

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merged 3 commits into from
Dec 31, 2023
Merged

[wombat] Refactor to use namespaces #34

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70c70df
[wombat] Refactor to use namespaces
spacey-sooty Dec 27, 2023
a3c9c21
Merge branch 'master' into spacey-sooty/refactoring
spacey-sooty Dec 31, 2023
0cf9566
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spacey-sooty Dec 31, 2023
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Merge branch 'master' into spacey-sooty/refactoring
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@spacey-sooty
spacey-sooty authored Dec 31, 2023
commit a3c9c2109f0e4bec7ffd0e3d918beb03fb59650e
13 changes: 7 additions & 6 deletions wombat/src/main/cpp/utils/VoltageController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,24 +8,25 @@ units::volt_t wom::utils::VoltageController::GetEstimatedRealVoltage() const {
return units::math::min(units::math::max(-vb, GetVoltage()), vb);
}

wom::utils::MotorVoltageController::MotorVoltageController(frc::MotorController *MotorController) : _MotorController(MotorController) {}
wom::utils::VoltageController::VoltageController(frc::MotorController *MotorController) : _MotorController(MotorController)
{}

void wom::utils::MotorVoltageController::SetVoltage(units::volt_t voltage) {
void wom::utils::VoltageController::SetVoltage(units::volt_t voltage) {
_MotorController->Set(voltage / GetBusVoltage());
}

units::volt_t wom::utils::MotorVoltageController::GetVoltage() const {
units::volt_t wom::utils::VoltageController::GetVoltage() const {
return _MotorController->Get() * GetBusVoltage();
}

units::volt_t wom::utils::MotorVoltageController::GetBusVoltage() const {
units::volt_t wom::utils::VoltageController::GetBusVoltage() const {
return frc::RobotController::GetInputVoltage() * 1_V;
}

void wom::utils::MotorVoltageController::SetInverted(bool invert) {
void wom::utils::VoltageController::SetInverted(bool invert) {
_MotorController->SetInverted(invert);
}

bool wom::utils::MotorVoltageController::GetInverted() const {
bool wom::utils::VoltageController::GetInverted() const {
return frc::RobotController::GetInputVoltage();
}
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