mirror of
https://github.com/wpilibsuite/allwpilib
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37 lines
1.1 KiB
C++
37 lines
1.1 KiB
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 <jni.h>
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#include <wpi/jni_util.h>
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#include "edu_wpi_first_math_WPIMathJNI.h"
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#include "frc/controller/ArmFeedforward.h"
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using namespace wpi::java;
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extern "C" {
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/*
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* Class: edu_wpi_first_math_WPIMathJNI
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* Method: calculate
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* Signature: (DDDDDDDD)D
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*/
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JNIEXPORT jdouble JNICALL
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Java_edu_wpi_first_math_WPIMathJNI_calculate
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(JNIEnv* env, jclass, jdouble ks, jdouble kv, jdouble ka, jdouble kg,
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jdouble currentAngle, jdouble currentVelocity, jdouble nextVelocity,
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jdouble dt)
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{
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return frc::ArmFeedforward{units::volt_t{ks}, units::volt_t{kg},
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units::unit_t<frc::ArmFeedforward::kv_unit>{kv},
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units::unit_t<frc::ArmFeedforward::ka_unit>{ka}}
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.Calculate(units::radian_t{currentAngle},
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units::radians_per_second_t{currentVelocity},
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units::radians_per_second_t{nextVelocity}, units::second_t{dt})
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.value();
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}
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} // extern "C"
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