fix warnings (CurtinFRC#82)

spacey-sooty · Jan 11, 2024 · 01d1e46 · 01d1e46
1 parent fde8fe3
commit 01d1e46
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Showing 6 changed files with 8 additions and 24 deletions.
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -12,13 +12,8 @@
 #include <units/time.h>
 #include <units/voltage.h>
 
-// include frc::DriveKinematics
 #include <frc/kinematics/DifferentialDriveKinematics.h>
-
-// include frc::RamseteController
 #include <frc/controller/RamseteController.h>
-
-// include frc::Timer
 #include <frc/Timer.h>
 
 static units::second_t lastPeriodic;
@@ -78,9 +73,7 @@ void Robot::TeleopInit() {
   // _swerveDrive->OnStart();
   // sched->InterruptAll();
 }
-void Robot::TeleopPeriodic() {
-  auto dt = wom::now() - lastPeriodic;
-}
+void Robot::TeleopPeriodic() {}
 
 void Robot::DisabledInit() {}
 void Robot::DisabledPeriodic() {}

diff --git a/src/main/include/Robot.h b/src/main/include/Robot.h
@@ -11,13 +11,13 @@
 #include <frc/simulation/DifferentialDrivetrainSim.h>
 #include <frc/simulation/EncoderSim.h>
 #include <frc/smartdashboard/Field2d.h>
+#include <frc/smartdashboard/SendableChooser.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 
 #include <string>
 
 #include "RobotMap.h"
 #include "Wombat.h"
-#include "frc/smartdashboard/SendableChooser.h"
 
 class Robot : public frc::TimedRobot {
  public:

diff --git a/wombat/src/main/cpp/drivetrain/behaviours/SwerveBehaviours.cpp b/wombat/src/main/cpp/drivetrain/behaviours/SwerveBehaviours.cpp
@@ -26,7 +26,7 @@ ManualDrivebase::ManualDrivebase(wom::drivetrain::SwerveDrive* swerveDrivebase,
   Controls(swerveDrivebase);
 }
 
-void ManualDrivebase::OnStart(units::second_t dt) {
+void ManualDrivebase::OnStart() {
   _swerveDrivebase->OnStart();
   _swerveDrivebase->SetAccelerationLimit(6_mps_sq);
   std::cout << "Manual Drivebase Start" << std::endl;
@@ -51,7 +51,7 @@ void ManualDrivebase::OnTick(units::second_t deltaTime) {
   if (_driverController->GetLeftBumperPressed()) {
     maxMovementMagnitude = lowSensitivityDriveSpeed;
     maxRotationMagnitude = lowSensitivityRotateSpeed;
-  } else if (_driverController->GetLeftBumperReleased() &
+  } else if (_driverController->GetLeftBumperReleased() &&
              !_driverController->GetRightBumper()) {
     maxMovementMagnitude = defaultDriveSpeed;
     maxRotationMagnitude = defaultRotateSpeed;
@@ -64,7 +64,7 @@ void ManualDrivebase::OnTick(units::second_t deltaTime) {
     _swerveDrivebase->SetAccelerationLimit(12_mps_sq);
     _swerveDrivebase->SetVoltageLimit(14_V);
 
-  } else if (_driverController->GetRightBumperReleased() &
+  } else if (_driverController->GetRightBumperReleased() &&
              !_driverController->GetLeftBumper()) {
     maxMovementMagnitude = defaultDriveSpeed;
     maxRotationMagnitude = defaultRotateSpeed;
@@ -87,8 +87,6 @@ void ManualDrivebase::OnTick(units::second_t deltaTime) {
 
     double r_x = wom::utils::spow2(
         -wom::utils::deadzone(_driverController->GetRightX(), turningDeadzone));
-    double r_y = wom::utils::spow2(
-        -wom::utils::deadzone(_driverController->GetRightY(), turningDeadzone));
 
     double turnX = _driverController->GetRightX();
     double turnY = _driverController->GetRightY();
@@ -188,9 +186,6 @@ void wom::drivetrain::behaviours::TempSimSwerveDrive::OnUpdate() {
   frc::Trajectory::State desired_state =
       current_trajectory.Sample(m_timer->Get());
 
-  // get the current pose of the robot
-  frc::Pose2d current_pose = m_driveSim.GetPose();
-
   // get the current wheel speeds
   wom::utils::WriteTrajectoryState(current_trajectory_state_table,
                                    desired_state);

diff --git a/wombat/src/main/cpp/utils/Encoder.cpp b/wombat/src/main/cpp/utils/Encoder.cpp
@@ -10,8 +10,8 @@ wom::utils::Encoder::Encoder(double encoderTicksPerRotation, int type,
                              units::meter_t wheelRadius, double reduction)
     : _reduction(reduction),
       _encoderTicksPerRotation(encoderTicksPerRotation),
-      _wheelRadius(wheelRadius),
-      _type(type) {}
+      _type(type),
+      _wheelRadius(wheelRadius) {}
 
 double wom::utils::Encoder::GetEncoderTicks() const {
   return GetEncoderRawTicks();

diff --git a/wombat/src/main/include/drivetrain/behaviours/SwerveBehaviours.h b/wombat/src/main/include/drivetrain/behaviours/SwerveBehaviours.h
@@ -17,9 +17,7 @@
 
 #include "behaviour/Behaviour.h"
 #include "drivetrain/SwerveDrive.h"
-#include "frc/smartdashboard/SendableChooser.h"
 #include "utils/Pathplanner.h"
-#include "utils/Util.h"
 
 namespace wom {
 namespace drivetrain {
@@ -49,7 +47,7 @@ class ManualDrivebase : public behaviour::Behaviour {
    */
   void CalculateRequestedAngle(double joystickX, double joystickY,
                                units::degree_t defaultAngle);
-  void OnStart(units::second_t dt);
+  void OnStart() override;
   void ResetMode();
 
  private:

diff --git a/wombat/src/main/include/vision/Limelight.h b/wombat/src/main/include/vision/Limelight.h
@@ -23,8 +23,6 @@
 #include <utility>
 #include <vector>
 
-#include "behaviour/HasBehaviour.h"
-
 namespace wom {
 namespace vision {