// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#pragma once

#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
#include "wpi/util/SymbolExports.hpp"
#include "wpi/util/struct/Struct.hpp"

template <>
struct WPILIB_DLLEXPORT
    wpi::util::Struct<wpi::math::DifferentialDriveFeedforward> {
  static constexpr std::string_view GetTypeName() {
    return "DifferentialDriveFeedforward";
  }
  static constexpr size_t GetSize() { return 32; }
  static constexpr std::string_view GetSchema() {
    return "double kv_linear;double ka_linear;double kv_angular;double "
           "ka_angular";
  }

  static wpi::math::DifferentialDriveFeedforward Unpack(
      std::span<const uint8_t> data);
  static void Pack(std::span<uint8_t> data,
                   const wpi::math::DifferentialDriveFeedforward& value);
};

static_assert(
    wpi::util::StructSerializable<wpi::math::DifferentialDriveFeedforward>);
