switch back to shared_ptr

5150VEX · Oct 17, 2023 · 691c8c6 · 691c8c6
1 parent fd8903f
commit 691c8c6
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Showing 5 changed files with 8 additions and 9 deletions.
diff --git a/include/lemlib/devices/encoder/motor.hpp b/include/lemlib/devices/encoder/motor.hpp
@@ -15,7 +15,7 @@ class MotorEncoder : public Encoder {
          * @param motors pointer to the motor group to be used
          * @param rpm output rpm
          */
-        MotorEncoder(std::unique_ptr<pros::MotorGroup>&& motors, float rpm);
+        MotorEncoder(std::shared_ptr<pros::MotorGroup> motors, float rpm);
 
         /**
          * @brief Get the angle rotated by the motor encoders, in radians
@@ -31,7 +31,7 @@ class MotorEncoder : public Encoder {
          */
         bool reset() const override;
     private:
-        std::unique_ptr<pros::MotorGroup> motors;
+        std::shared_ptr<pros::MotorGroup> motors;
         const float rpm;
 };
 } // namespace lemlib
diff --git a/include/lemlib/devices/trackingWheel.hpp b/include/lemlib/devices/trackingWheel.hpp
@@ -56,7 +56,7 @@ class TrackingWheel {
          * @param offset distance between the wheel and the tracking center, in inches
          * @param rpm of the rpm of the wheels the motor group is driving
          */
-        TrackingWheel(std::unique_ptr<pros::MotorGroup>&& motors, float diameter, float offset, float rpm);
+        TrackingWheel(std::shared_ptr<pros::MotorGroup> motors, float diameter, float offset, float rpm);
         /**
          * @brief Create a new optical encoder tracking wheel
          *

diff --git a/src/lemlib/chassis/odom.cpp b/src/lemlib/chassis/odom.cpp
@@ -56,10 +56,10 @@ void Odometry::calibrate(bool calibrateIMU) {
     }
     // substitute tracking wheels with a side of the drivetrain if needed
     if (sensors.vertical1 == nullptr)
-        sensors.vertical1 = new TrackingWheel(std::unique_ptr<pros::MotorGroup>(drive.leftMotors), drive.wheelDiameter,
+        sensors.vertical1 = new TrackingWheel(std::shared_ptr<pros::MotorGroup>(drive.leftMotors), drive.wheelDiameter,
                                               -(drive.trackWidth / 2), drive.rpm);
     if (sensors.vertical2 == nullptr)
-        sensors.vertical2 = new TrackingWheel(std::unique_ptr<pros::MotorGroup>(drive.rightMotors), drive.wheelDiameter,
+        sensors.vertical2 = new TrackingWheel(std::shared_ptr<pros::MotorGroup>(drive.rightMotors), drive.wheelDiameter,
                                               drive.trackWidth / 2, drive.rpm);
     // calibrate the tracking wheels
     sensors.vertical1->reset();

diff --git a/src/lemlib/devices/encoder/motor.cpp b/src/lemlib/devices/encoder/motor.cpp
@@ -10,7 +10,7 @@
  * a reference, due to limitations in PROS 3. This is fixed in PROS 4, but
  * we have to deal with this for now.
  */
-lemlib::MotorEncoder::MotorEncoder(std::unique_ptr<pros::MotorGroup>&& motors, float rpm)
+lemlib::MotorEncoder::MotorEncoder(std::shared_ptr<pros::MotorGroup> motors, float rpm)
     : motors(std::move(motors)),
       rpm(rpm) {}
 

diff --git a/src/lemlib/devices/trackingWheel.cpp b/src/lemlib/devices/trackingWheel.cpp
@@ -34,9 +34,8 @@ lemlib::TrackingWheel::TrackingWheel(std::shared_ptr<Encoder> encoder, float dia
  * We pass a pointer to a motor group instead of a reference motor group due to a
  * limitation of PROS 3. This is fixed in PROS 4, but its not ready for release yet
  */
-lemlib::TrackingWheel::TrackingWheel(std::unique_ptr<pros::MotorGroup>&& motors, float diameter, float offset,
-                                     float rpm)
-    : encoder(new MotorEncoder(std::move(motors), rpm)),
+lemlib::TrackingWheel::TrackingWheel(std::shared_ptr<pros::MotorGroup> motors, float diameter, float offset, float rpm)
+    : encoder(std::make_shared<MotorEncoder>(MotorEncoder(motors, rpm))),
       diameter(diameter),
       offset(offset) {}