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https://github.com/wpilibsuite/allwpilib
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24 lines
816 B
C++
24 lines
816 B
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"
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namespace {
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constexpr size_t kTrackWidthOff = 0;
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} // namespace
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using StructType = wpi::Struct<frc::DifferentialDriveKinematics>;
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frc::DifferentialDriveKinematics StructType::Unpack(
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std::span<const uint8_t, kSize> data) {
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return frc::DifferentialDriveKinematics{
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units::meter_t{wpi::UnpackStruct<double, kTrackWidthOff>(data)},
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};
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}
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void StructType::Pack(std::span<uint8_t, kSize> data,
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const frc::DifferentialDriveKinematics& value) {
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wpi::PackStruct<kTrackWidthOff>(data, value.trackWidth.value());
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}
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