Build fixes

Team846 · Oct 13, 2024 · d39be06 · d39be06
1 parent 90a3b28
commit d39be06
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Showing 3 changed files with 20 additions and 23 deletions.
diff --git a/src/frc846/include/frc846/control/control_ctre.h b/src/frc846/include/frc846/control/control_ctre.h
@@ -156,8 +156,8 @@ class TalonFXController : public BaseESC<X> {
       auto vcomp =
           auton ? config_helper_.getMotorConfig().auton_voltage_compensation
                 : config_helper_.getMotorConfig().voltage_compensation;
-      voltageConfs.WithPeakForwardVoltage(vcomp.to<double>())
-          .WithPeakReverseVoltage(-vcomp.to<double>());
+      voltageConfs.WithPeakForwardVoltage(vcomp.template to<double>())
+          .WithPeakReverseVoltage(-vcomp.template to<double>());
 
       deviceConfigs.WithVoltage(voltageConfs);
 
@@ -194,9 +194,10 @@ class TalonFXController : public BaseESC<X> {
     ctre::configs::CurrentLimitsConfigs currentConfs;
     currentConfs.WithSupplyCurrentLimitEnable(true);
     currentConfs.WithSupplyCurrentLimit(
-        motor_config.current_limiting.target_threshold.to<double>());
+        motor_config.current_limiting.target_threshold.template to<double>());
     currentConfs.WithSupplyTimeThreshold(
-        motor_config.current_limiting.peak_time_threshold.to<double>());
+        motor_config.current_limiting.peak_time_threshold
+            .template to<double>());
 
     deviceConfigs.WithCurrentLimits(currentConfs);
 

diff --git a/src/frc846/include/frc846/control/control_rev.h b/src/frc846/include/frc846/control/control_rev.h
@@ -168,13 +168,13 @@ class REVSparkController : public BaseESC<X> {
     if (esc_) {
       this->CheckOK(esc_->EnableVoltageCompensation(
           auton ? config_helper_.getMotorConfig()
-                      .auton_voltage_compensation.to<double>()
+                      .auton_voltage_compensation.template to<double>()
                 : config_helper_.getMotorConfig()
                       .voltage_compensation
-                      .to<double>()));  // switching between
-                                        // autonomous and teleop
-                                        // presets for voltage
-                                        // compensation
+                      .template to<double>()));  // switching between
+                                                 // autonomous and teleop
+                                                 // presets for voltage
+                                                 // compensation
     }
   }
 
@@ -218,7 +218,7 @@ class REVSparkController : public BaseESC<X> {
 
     this->Q(parent_, [&]() {
       return CheckOK(esc_->EnableVoltageCompensation(
-          motor_config.auton_voltage_compensation.to<double>()));
+          motor_config.auton_voltage_compensation.template to<double>()));
     });  // voltage compensation sets the maximum voltage
          // that the controller will output. 10-12V is good
          // for consistency during autonomous, but the
@@ -240,18 +240,19 @@ class REVSparkController : public BaseESC<X> {
     if (motor_config.withRampRate) {
       this->Q(parent_, [&]() {
         return CheckOK(esc_->SetOpenLoopRampRate(
-                   motor_config.rampTime.to<
+                   motor_config.rampTime.template to<
                        double>()))  // if our can bus isn't overloaded, we
                                     // should use custom motion profiles instead
 
                && CheckOK(esc_->SetClosedLoopRampRate(
-                      motor_config.rampTime.to<double>()));
+                      motor_config.rampTime.template to<double>()));
       });
     }
 
     this->Q(parent_, [&]() {
       return CheckOK(esc_->SetSmartCurrentLimit(
-          motor_config.current_limiting.target_threshold.to<double>()));
+          motor_config.current_limiting.target_threshold
+              .template to<double>()));
     });  // REV current limit uses PID to control
          // current if it exceeds output. Reactive
          // system. Happens on board controller at high

diff --git a/src/y2024/include/field.h b/src/y2024/include/field.h
@@ -7,27 +7,22 @@
 // Field has blue alliance far right corner as origin
 struct field {
   struct points {
-    static frc846::util::Position Origin() {
-      return frc846::util::Position(
-          frc846::util::Vector2D<units::foot_t>(0_in, 0_in), 0_deg);
-    };
+    static frc846::util::Position Origin() { return {{0_in, 0_in}, 0_deg}; };
 
     static frc846::util::Vector2D<units::foot_t> kSpeaker(bool flip = false) {
       if (!flip) {
-        return frc846::util::Vector2D<units::foot_t>(217.5_in, -4_in);
+        return {217.5_in, -4_in};
       } else {
-        return frc846::util::Vector2D<units::foot_t>(217.5_in, 655.8_in);
+        return {217.5_in, 655.8_in};
       }
     }
 
     static frc846::util::Position kAmpNoFlip() {
-      return frc846::util::Position(
-          frc846::util::Vector2D<units::foot_t>(0_in, 0_in), 90_deg);
+      return {{0_in, 0_in}, 90_deg};
     }
 
     static frc846::util::Position kPreAmpNoFlip() {
-      return frc846::util::Position(
-          frc846::util::Vector2D<units::foot_t>(-2_ft, 0_in), 90_deg);
+      return {{-2_ft, 0_in}, 90_deg};
     }
 
     // TESTING