wpimath/src/main/proto/controller.proto

syntax = "proto3";

package wpi.proto;

option java_package = "edu.wpi.first.math.proto";

message ProtobufArmFeedforward {
  double ks = 1;
  double kg = 2;
  double kv = 3;
  double ka = 4;
}

message ProtobufDifferentialDriveFeedforward {
  double kv_linear = 1;
  double ka_linear = 2;
  double kv_angular = 3;
  double ka_angular = 4;
}

message ProtobufElevatorFeedforward {
  double ks = 1;
  double kg = 2;
  double kv = 3;
  double ka = 4;
}

message ProtobufSimpleMotorFeedforward {
  double ks = 1;
  double kv = 2;
  double ka = 3;
}

message ProtobufDifferentialDriveWheelVoltages {
  double left = 1;
  double right = 2;
}
[wpiutil, ntcore] Add structured data support (#5391) This adds support for two serialization formats for complex data types: - Protobuf for complex objects with variable length internals that need forward and backward wire compatibility (lower speed, more flexible) - Raw struct (ByteBuffer-style) for fixed-length objects (higher speed, less flexible) Deserialization can be done either by creating a new object (for immutable objects) or overwriting the contents of an existing object (for mutable objects). Implementing classes should provide inner classes that implement the Protobuf or Struct interface (in Java) or specialize the wpi::Protobuf or wpi::Struct struct (in C++). It is possible for classes to implement both. If the class itself does not implement serialization, it's possible for third parties/users to provide an implementation instead. Uses the Google protobuf implementation for C++ and the QuickBuffers alternative protobuf implementation for Java. 2023-10-19 21:41:47 -07:00			`syntax = "proto3";`

			`package wpi.proto;`

			`option java_package = "edu.wpi.first.math.proto";`

			`message ProtobufArmFeedforward {`
			`double ks = 1;`
			`double kg = 2;`
			`double kv = 3;`
			`double ka = 4;`
			`}`

			`message ProtobufDifferentialDriveFeedforward {`
			`double kv_linear = 1;`
			`double ka_linear = 2;`
			`double kv_angular = 3;`
			`double ka_angular = 4;`
			`}`

			`message ProtobufElevatorFeedforward {`
			`double ks = 1;`
			`double kg = 2;`
			`double kv = 3;`
			`double ka = 4;`
			`}`

			`message ProtobufSimpleMotorFeedforward {`
			`double ks = 1;`
			`double kv = 2;`
			`double ka = 3;`
			`}`

			`message ProtobufDifferentialDriveWheelVoltages {`
			`double left = 1;`
			`double right = 2;`
			`}`