verifyConnected added to Motormonkey/highermotorcontroller/intermedia…

…tecontroller and subclasses
Team846 · Dec 29, 2024 · 06a2c16 · 06a2c16
2 parents e79de9d + 628848a
commit 06a2c16
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Showing 4 changed files with 11 additions and 22 deletions.
diff --git a/README.md b/README.md
@@ -174,13 +174,6 @@ To undo the going back:
 
 - `git switch -` <-- goes back to latest commit
 
-## CppCheck Warnings
-```
-src/frc846/cpp/frc846/math/collection.cc:11:0: warning: The function 'HorizontalDeadband' is never used. [unusedFunction]
-src/frc846/cpp/frc846/math/collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
-src/frc846/cpp/frc846/math/collection.cc:39:0: warning: The function 'CoterminalDifference' is never used. [unusedFunction]
-src/frc846/cpp/frc846/math/collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]
-```
 ## CppCheck Warnings
 ```
 src/frc846/cpp/frc846/math/collection.cc:11:0: warning: The function 'HorizontalDeadband' is never used. [unusedFunction]

diff --git a/build.gradle b/build.gradle
@@ -182,12 +182,7 @@ task runCppcheck(type: Exec) {
             }
         }
 
-        def cppcheckSection = """
-## CppCheck Warnings
-```
-${reportContent.trim()}
-```
-"""
+        def cppcheckSection = """## CppCheck Warnings\n```\n${reportContent.trim()}\n```\n"""
         def readmeFile = file('README.md')
         def readmeContent = readmeFile.text
         def cppcheckRegex = /## CppCheck Warnings\n```[\s\S]*?```/

diff --git a/.../frc846/control/simulation/MCSimulator.cc → ...ontrol/hardware/simulation/MCSimulator.cc b/.../frc846/control/simulation/MCSimulator.cc → ...ontrol/hardware/simulation/MCSimulator.cc
@@ -1,4 +1,4 @@
-#include "frc846/control/simulation/MCSimulator.h"
+#include "frc846/control/hardware/simulation/MCSimulator.h"
 
 #include "frc846/control/calculators/CurrentTorqueCalculator.h"
 #include "frc846/control/calculators/VelocityPositionEstimator.h"

diff --git a/...e/frc846/control/simulation/MCSimulator.h → ...control/hardware/simulation/MCSimulator.h b/...e/frc846/control/simulation/MCSimulator.h → ...control/hardware/simulation/MCSimulator.h
@@ -8,6 +8,7 @@
 
 #include <variant>
 
+#include "frc846/control/hardware/IntermediateController.h"
 #include "frc846/control/base/motor_gains.h"
 #include "frc846/control/base/motor_specs.h"
 #include "frc846/wpilib/846_units.h"
@@ -20,7 +21,7 @@ MCSimulator
 A class that simulates a motor controller. Uses motor dynamics to simulate
 position and velocity accurately.
 */
-class MCSimulator {
+class MCSimulator : frc846::control::hardware::IntermediateController {
 public:
   MCSimulator(frc846::control::base::MotorSpecs specs,
       frc846::wpilib::unit_ohm circuit_resistance,
@@ -33,19 +34,19 @@ class MCSimulator {
   */
   void Tick(units::volt_t battery_voltage, units::newton_meter_t load);
 
-  void WriteDC(double duty_cycle);
-  void WriteVelocity(units::radians_per_second_t velocity);
-  void WritePosition(units::radian_t position);
+  void WriteDC(double duty_cycle) override;
+  void WriteVelocity(units::radians_per_second_t velocity) override;
+  void WritePosition(units::radian_t position) override;
 
-  units::radian_t GetPosition();
-  units::radians_per_second_t GetVelocity();
+  units::radian_t GetPosition() override;
+  units::radians_per_second_t GetVelocity() override;
 
   /*
   ZeroEncoder()
 
   Sets the motor's position to specified value.
   */
-  void ZeroEncoder(units::radian_t position = 0_rad);
+  void ZeroEncoder(units::radian_t position = 0_rad) override;
 
   /*
   DisablePositionPacket()
@@ -60,7 +61,7 @@ class MCSimulator {
   */
   void DisableVelocityPacket();
 
-  void SetGains(frc846::control::base::MotorGains gains);
+  void SetGains(frc846::control::base::MotorGains gains) override;
 
 private:
   frc846::control::base::MotorSpecs specs;