Skip to content

[docs] Make C++ example for advantagescope swerve states compilable #2599

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

[docs] Make C++ example for advantagescope swerve states compilable #2599

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 6 additions & 8 deletions source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -303,14 +303,12 @@ By recording a set of swerve module states using :ref:`NetworkTables <docs/softw

void Periodic() {
// Periodically send a set of module states
swervePublisher.Set(
std::vector{
frontLeftState,
frontRightState,
backLeftState,
backRightState
}
);
std::vector states_vec = {m_frontLeft.GetState(), m_frontRight.GetState(),
m_rearLeft.GetState(), m_rearRight.GetState()};
std::span<frc::SwerveModuleState, 4> states(states_vec.begin(),
states_vec.end());

publisher.Set(states);
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

It shouldn't be necessary to explicitly create a std::span. It should work to just pass states_vec directly to the publisher, as there's an implicit conversion from std::vector to std::span.

Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

It should also be possible to simply use double-braces here, although I've not tested it:

swervePublisher.Set(
            {{
              frontLeftState,
              frontRightState,
              backLeftState,
              backRightState
            }}
          );

}
};

Expand Down