[wpimath, wpiutil] Use java_multiple_files for Protobuf (#8555)

Closes #8256

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufArmFeedforward.java

@@ -0,0 +1,590 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufArmFeedforward}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufArmFeedforward extends ProtoMessage<ProtobufArmFeedforward> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double ks = 1;</code>
+   */
+  private double ks;
+
+  /**
+   * <code>optional double kg = 2;</code>
+   */
+  private double kg;
+
+  /**
+   * <code>optional double kv = 3;</code>
+   */
+  private double kv;
+
+  /**
+   * <code>optional double ka = 4;</code>
+   */
+  private double ka;
+
+  /**
+   * <code>optional double dt = 5;</code>
+   */
+  private double dt;
+
+  private ProtobufArmFeedforward() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufArmFeedforward}
+   */
+  public static ProtobufArmFeedforward newInstance() {
+    return new ProtobufArmFeedforward();
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @return whether the ks field is set
+   */
+  public boolean hasKs() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @return this
+   */
+  public ProtobufArmFeedforward clearKs() {
+    bitField0_ &= ~0x00000001;
+    ks = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @return the ks
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @param value the ks to set
+   * @return this
+   */
+  public ProtobufArmFeedforward setKs(final double value) {
+    bitField0_ |= 0x00000001;
+    ks = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double kg = 2;</code>
+   * @return whether the kg field is set
+   */
+  public boolean hasKg() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double kg = 2;</code>
+   * @return this
+   */
+  public ProtobufArmFeedforward clearKg() {
+    bitField0_ &= ~0x00000002;
+    kg = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double kg = 2;</code>
+   * @return the kg
+   */
+  public double getKg() {
+    return kg;
+  }
+
+  /**
+   * <code>optional double kg = 2;</code>
+   * @param value the kg to set
+   * @return this
+   */
+  public ProtobufArmFeedforward setKg(final double value) {
+    bitField0_ |= 0x00000002;
+    kg = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double kv = 3;</code>
+   * @return whether the kv field is set
+   */
+  public boolean hasKv() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double kv = 3;</code>
+   * @return this
+   */
+  public ProtobufArmFeedforward clearKv() {
+    bitField0_ &= ~0x00000004;
+    kv = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double kv = 3;</code>
+   * @return the kv
+   */
+  public double getKv() {
+    return kv;
+  }
+
+  /**
+   * <code>optional double kv = 3;</code>
+   * @param value the kv to set
+   * @return this
+   */
+  public ProtobufArmFeedforward setKv(final double value) {
+    bitField0_ |= 0x00000004;
+    kv = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka = 4;</code>
+   * @return whether the ka field is set
+   */
+  public boolean hasKa() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double ka = 4;</code>
+   * @return this
+   */
+  public ProtobufArmFeedforward clearKa() {
+    bitField0_ &= ~0x00000008;
+    ka = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka = 4;</code>
+   * @return the ka
+   */
+  public double getKa() {
+    return ka;
+  }
+
+  /**
+   * <code>optional double ka = 4;</code>
+   * @param value the ka to set
+   * @return this
+   */
+  public ProtobufArmFeedforward setKa(final double value) {
+    bitField0_ |= 0x00000008;
+    ka = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double dt = 5;</code>
+   * @return whether the dt field is set
+   */
+  public boolean hasDt() {
+    return (bitField0_ & 0x00000010) != 0;
+  }
+
+  /**
+   * <code>optional double dt = 5;</code>
+   * @return this
+   */
+  public ProtobufArmFeedforward clearDt() {
+    bitField0_ &= ~0x00000010;
+    dt = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double dt = 5;</code>
+   * @return the dt
+   */
+  public double getDt() {
+    return dt;
+  }
+
+  /**
+   * <code>optional double dt = 5;</code>
+   * @param value the dt to set
+   * @return this
+   */
+  public ProtobufArmFeedforward setDt(final double value) {
+    bitField0_ |= 0x00000010;
+    dt = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufArmFeedforward copyFrom(final ProtobufArmFeedforward other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      ks = other.ks;
+      kg = other.kg;
+      kv = other.kv;
+      ka = other.ka;
+      dt = other.dt;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufArmFeedforward mergeFrom(final ProtobufArmFeedforward other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasKs()) {
+      setKs(other.ks);
+    }
+    if (other.hasKg()) {
+      setKg(other.kg);
+    }
+    if (other.hasKv()) {
+      setKv(other.kv);
+    }
+    if (other.hasKa()) {
+      setKa(other.ka);
+    }
+    if (other.hasDt()) {
+      setDt(other.dt);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufArmFeedforward clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    ks = 0D;
+    kg = 0D;
+    kv = 0D;
+    ka = 0D;
+    dt = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufArmFeedforward clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufArmFeedforward)) {
+      return false;
+    }
+    ProtobufArmFeedforward other = (ProtobufArmFeedforward) o;
+    return bitField0_ == other.bitField0_
+      && (!hasKs() || ProtoUtil.isEqual(ks, other.ks))
+      && (!hasKg() || ProtoUtil.isEqual(kg, other.kg))
+      && (!hasKv() || ProtoUtil.isEqual(kv, other.kv))
+      && (!hasKa() || ProtoUtil.isEqual(ka, other.ka))
+      && (!hasDt() || ProtoUtil.isEqual(dt, other.dt));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(ks);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(kg);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(kv);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(ka);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeRawByte((byte) 41);
+      output.writeDoubleNoTag(dt);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufArmFeedforward mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // ks
+          ks = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // kg
+          kg = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // kv
+          kv = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // ka
+          ka = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 41) {
+            break;
+          }
+        }
+        case 41: {
+          // dt
+          dt = input.readDouble();
+          bitField0_ |= 0x00000010;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.ks, ks);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.kg, kg);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.kv, kv);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.ka, ka);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeDouble(FieldNames.dt, dt);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufArmFeedforward mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3432: {
+          if (input.isAtField(FieldNames.ks)) {
+            if (!input.trySkipNullValue()) {
+              ks = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3420: {
+          if (input.isAtField(FieldNames.kg)) {
+            if (!input.trySkipNullValue()) {
+              kg = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3435: {
+          if (input.isAtField(FieldNames.kv)) {
+            if (!input.trySkipNullValue()) {
+              kv = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3414: {
+          if (input.isAtField(FieldNames.ka)) {
+            if (!input.trySkipNullValue()) {
+              ka = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3216: {
+          if (input.isAtField(FieldNames.dt)) {
+            if (!input.trySkipNullValue()) {
+              dt = input.readDouble();
+              bitField0_ |= 0x00000010;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufArmFeedforward clone() {
+    return new ProtobufArmFeedforward().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufArmFeedforward parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufArmFeedforward(), data).checkInitialized();
+  }
+
+  public static ProtobufArmFeedforward parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufArmFeedforward(), input).checkInitialized();
+  }
+
+  public static ProtobufArmFeedforward parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufArmFeedforward(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufArmFeedforward messages
+   */
+  public static MessageFactory<ProtobufArmFeedforward> getFactory() {
+    return ProtobufArmFeedforwardFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufControllerDescriptor.wpi_proto_ProtobufArmFeedforward_descriptor;
+  }
+
+  private enum ProtobufArmFeedforwardFactory implements MessageFactory<ProtobufArmFeedforward> {
+    INSTANCE;
+
+    @Override
+    public ProtobufArmFeedforward create() {
+      return ProtobufArmFeedforward.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName ks = FieldName.forField("ks");
+
+    static final FieldName kg = FieldName.forField("kg");
+
+    static final FieldName kv = FieldName.forField("kv");
+
+    static final FieldName ka = FieldName.forField("ka");
+
+    static final FieldName dt = FieldName.forField("dt");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufChassisAccelerations.java

@@ -0,0 +1,430 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufChassisAccelerations}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufChassisAccelerations extends ProtoMessage<ProtobufChassisAccelerations> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double ax = 1;</code>
+   */
+  private double ax;
+
+  /**
+   * <code>optional double ay = 2;</code>
+   */
+  private double ay;
+
+  /**
+   * <code>optional double alpha = 3;</code>
+   */
+  private double alpha;
+
+  private ProtobufChassisAccelerations() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufChassisAccelerations}
+   */
+  public static ProtobufChassisAccelerations newInstance() {
+    return new ProtobufChassisAccelerations();
+  }
+
+  /**
+   * <code>optional double ax = 1;</code>
+   * @return whether the ax field is set
+   */
+  public boolean hasAx() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double ax = 1;</code>
+   * @return this
+   */
+  public ProtobufChassisAccelerations clearAx() {
+    bitField0_ &= ~0x00000001;
+    ax = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ax = 1;</code>
+   * @return the ax
+   */
+  public double getAx() {
+    return ax;
+  }
+
+  /**
+   * <code>optional double ax = 1;</code>
+   * @param value the ax to set
+   * @return this
+   */
+  public ProtobufChassisAccelerations setAx(final double value) {
+    bitField0_ |= 0x00000001;
+    ax = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double ay = 2;</code>
+   * @return whether the ay field is set
+   */
+  public boolean hasAy() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double ay = 2;</code>
+   * @return this
+   */
+  public ProtobufChassisAccelerations clearAy() {
+    bitField0_ &= ~0x00000002;
+    ay = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ay = 2;</code>
+   * @return the ay
+   */
+  public double getAy() {
+    return ay;
+  }
+
+  /**
+   * <code>optional double ay = 2;</code>
+   * @param value the ay to set
+   * @return this
+   */
+  public ProtobufChassisAccelerations setAy(final double value) {
+    bitField0_ |= 0x00000002;
+    ay = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double alpha = 3;</code>
+   * @return whether the alpha field is set
+   */
+  public boolean hasAlpha() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double alpha = 3;</code>
+   * @return this
+   */
+  public ProtobufChassisAccelerations clearAlpha() {
+    bitField0_ &= ~0x00000004;
+    alpha = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double alpha = 3;</code>
+   * @return the alpha
+   */
+  public double getAlpha() {
+    return alpha;
+  }
+
+  /**
+   * <code>optional double alpha = 3;</code>
+   * @param value the alpha to set
+   * @return this
+   */
+  public ProtobufChassisAccelerations setAlpha(final double value) {
+    bitField0_ |= 0x00000004;
+    alpha = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisAccelerations copyFrom(final ProtobufChassisAccelerations other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      ax = other.ax;
+      ay = other.ay;
+      alpha = other.alpha;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisAccelerations mergeFrom(final ProtobufChassisAccelerations other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasAx()) {
+      setAx(other.ax);
+    }
+    if (other.hasAy()) {
+      setAy(other.ay);
+    }
+    if (other.hasAlpha()) {
+      setAlpha(other.alpha);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisAccelerations clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    ax = 0D;
+    ay = 0D;
+    alpha = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisAccelerations clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufChassisAccelerations)) {
+      return false;
+    }
+    ProtobufChassisAccelerations other = (ProtobufChassisAccelerations) o;
+    return bitField0_ == other.bitField0_
+      && (!hasAx() || ProtoUtil.isEqual(ax, other.ax))
+      && (!hasAy() || ProtoUtil.isEqual(ay, other.ay))
+      && (!hasAlpha() || ProtoUtil.isEqual(alpha, other.alpha));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(ax);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(ay);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(alpha);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufChassisAccelerations mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // ax
+          ax = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // ay
+          ay = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // alpha
+          alpha = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.ax, ax);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.ay, ay);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.alpha, alpha);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufChassisAccelerations mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3127: {
+          if (input.isAtField(FieldNames.ax)) {
+            if (!input.trySkipNullValue()) {
+              ax = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3128: {
+          if (input.isAtField(FieldNames.ay)) {
+            if (!input.trySkipNullValue()) {
+              ay = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 92909918: {
+          if (input.isAtField(FieldNames.alpha)) {
+            if (!input.trySkipNullValue()) {
+              alpha = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisAccelerations clone() {
+    return new ProtobufChassisAccelerations().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufChassisAccelerations parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufChassisAccelerations(), data).checkInitialized();
+  }
+
+  public static ProtobufChassisAccelerations parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufChassisAccelerations(), input).checkInitialized();
+  }
+
+  public static ProtobufChassisAccelerations parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufChassisAccelerations(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufChassisAccelerations messages
+   */
+  public static MessageFactory<ProtobufChassisAccelerations> getFactory() {
+    return ProtobufChassisAccelerationsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufChassisAccelerations_descriptor;
+  }
+
+  private enum ProtobufChassisAccelerationsFactory implements MessageFactory<ProtobufChassisAccelerations> {
+    INSTANCE;
+
+    @Override
+    public ProtobufChassisAccelerations create() {
+      return ProtobufChassisAccelerations.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName ax = FieldName.forField("ax");
+
+    static final FieldName ay = FieldName.forField("ay");
+
+    static final FieldName alpha = FieldName.forField("alpha");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufChassisSpeeds.java

@@ -0,0 +1,430 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufChassisSpeeds}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufChassisSpeeds extends ProtoMessage<ProtobufChassisSpeeds> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double vx = 1;</code>
+   */
+  private double vx;
+
+  /**
+   * <code>optional double vy = 2;</code>
+   */
+  private double vy;
+
+  /**
+   * <code>optional double omega = 3;</code>
+   */
+  private double omega;
+
+  private ProtobufChassisSpeeds() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufChassisSpeeds}
+   */
+  public static ProtobufChassisSpeeds newInstance() {
+    return new ProtobufChassisSpeeds();
+  }
+
+  /**
+   * <code>optional double vx = 1;</code>
+   * @return whether the vx field is set
+   */
+  public boolean hasVx() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double vx = 1;</code>
+   * @return this
+   */
+  public ProtobufChassisSpeeds clearVx() {
+    bitField0_ &= ~0x00000001;
+    vx = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double vx = 1;</code>
+   * @return the vx
+   */
+  public double getVx() {
+    return vx;
+  }
+
+  /**
+   * <code>optional double vx = 1;</code>
+   * @param value the vx to set
+   * @return this
+   */
+  public ProtobufChassisSpeeds setVx(final double value) {
+    bitField0_ |= 0x00000001;
+    vx = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double vy = 2;</code>
+   * @return whether the vy field is set
+   */
+  public boolean hasVy() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double vy = 2;</code>
+   * @return this
+   */
+  public ProtobufChassisSpeeds clearVy() {
+    bitField0_ &= ~0x00000002;
+    vy = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double vy = 2;</code>
+   * @return the vy
+   */
+  public double getVy() {
+    return vy;
+  }
+
+  /**
+   * <code>optional double vy = 2;</code>
+   * @param value the vy to set
+   * @return this
+   */
+  public ProtobufChassisSpeeds setVy(final double value) {
+    bitField0_ |= 0x00000002;
+    vy = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double omega = 3;</code>
+   * @return whether the omega field is set
+   */
+  public boolean hasOmega() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double omega = 3;</code>
+   * @return this
+   */
+  public ProtobufChassisSpeeds clearOmega() {
+    bitField0_ &= ~0x00000004;
+    omega = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double omega = 3;</code>
+   * @return the omega
+   */
+  public double getOmega() {
+    return omega;
+  }
+
+  /**
+   * <code>optional double omega = 3;</code>
+   * @param value the omega to set
+   * @return this
+   */
+  public ProtobufChassisSpeeds setOmega(final double value) {
+    bitField0_ |= 0x00000004;
+    omega = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisSpeeds copyFrom(final ProtobufChassisSpeeds other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      vx = other.vx;
+      vy = other.vy;
+      omega = other.omega;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisSpeeds mergeFrom(final ProtobufChassisSpeeds other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasVx()) {
+      setVx(other.vx);
+    }
+    if (other.hasVy()) {
+      setVy(other.vy);
+    }
+    if (other.hasOmega()) {
+      setOmega(other.omega);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisSpeeds clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    vx = 0D;
+    vy = 0D;
+    omega = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisSpeeds clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufChassisSpeeds)) {
+      return false;
+    }
+    ProtobufChassisSpeeds other = (ProtobufChassisSpeeds) o;
+    return bitField0_ == other.bitField0_
+      && (!hasVx() || ProtoUtil.isEqual(vx, other.vx))
+      && (!hasVy() || ProtoUtil.isEqual(vy, other.vy))
+      && (!hasOmega() || ProtoUtil.isEqual(omega, other.omega));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(vx);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(vy);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(omega);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufChassisSpeeds mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // vx
+          vx = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // vy
+          vy = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // omega
+          omega = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.vx, vx);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.vy, vy);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.omega, omega);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufChassisSpeeds mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3778: {
+          if (input.isAtField(FieldNames.vx)) {
+            if (!input.trySkipNullValue()) {
+              vx = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3779: {
+          if (input.isAtField(FieldNames.vy)) {
+            if (!input.trySkipNullValue()) {
+              vy = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 105858401: {
+          if (input.isAtField(FieldNames.omega)) {
+            if (!input.trySkipNullValue()) {
+              omega = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufChassisSpeeds clone() {
+    return new ProtobufChassisSpeeds().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufChassisSpeeds parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufChassisSpeeds(), data).checkInitialized();
+  }
+
+  public static ProtobufChassisSpeeds parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufChassisSpeeds(), input).checkInitialized();
+  }
+
+  public static ProtobufChassisSpeeds parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufChassisSpeeds(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufChassisSpeeds messages
+   */
+  public static MessageFactory<ProtobufChassisSpeeds> getFactory() {
+    return ProtobufChassisSpeedsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufChassisSpeeds_descriptor;
+  }
+
+  private enum ProtobufChassisSpeedsFactory implements MessageFactory<ProtobufChassisSpeeds> {
+    INSTANCE;
+
+    @Override
+    public ProtobufChassisSpeeds create() {
+      return ProtobufChassisSpeeds.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName vx = FieldName.forField("vx");
+
+    static final FieldName vy = FieldName.forField("vy");
+
+    static final FieldName omega = FieldName.forField("omega");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufControllerDescriptor.java

@@ -0,0 +1,65 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.ProtoUtil;
+import us.hebi.quickbuf.RepeatedByte;
+
+public final class ProtobufControllerDescriptor {
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(1968,
+    "ChBjb250cm9sbGVyLnByb3RvEgl3cGkucHJvdG8iaAoWUHJvdG9idWZBcm1GZWVkZm9yd2FyZBIOCgJr" + 
+    "cxgBIAEoAVICa3MSDgoCa2cYAiABKAFSAmtnEg4KAmt2GAMgASgBUgJrdhIOCgJrYRgEIAEoAVICa2ES" + 
+    "DgoCZHQYBSABKAFSAmR0Ip4BCiRQcm90b2J1ZkRpZmZlcmVudGlhbERyaXZlRmVlZGZvcndhcmQSGwoJ" + 
+    "a3ZfbGluZWFyGAEgASgBUghrdkxpbmVhchIbCglrYV9saW5lYXIYAiABKAFSCGthTGluZWFyEh0KCmt2" + 
+    "X2FuZ3VsYXIYAyABKAFSCWt2QW5ndWxhchIdCgprYV9hbmd1bGFyGAQgASgBUglrYUFuZ3VsYXIibQob" + 
+    "UHJvdG9idWZFbGV2YXRvckZlZWRmb3J3YXJkEg4KAmtzGAEgASgBUgJrcxIOCgJrZxgCIAEoAVICa2cS" + 
+    "DgoCa3YYAyABKAFSAmt2Eg4KAmthGAQgASgBUgJrYRIOCgJkdBgFIAEoAVICZHQiYAoeUHJvdG9idWZT" + 
+    "aW1wbGVNb3RvckZlZWRmb3J3YXJkEg4KAmtzGAEgASgBUgJrcxIOCgJrdhgCIAEoAVICa3YSDgoCa2EY" + 
+    "AyABKAFSAmthEg4KAmR0GAQgASgBUgJkdCJSCiZQcm90b2J1ZkRpZmZlcmVudGlhbERyaXZlV2hlZWxW" + 
+    "b2x0YWdlcxISCgRsZWZ0GAEgASgBUgRsZWZ0EhQKBXJpZ2h0GAIgASgBUgVyaWdodEI3ChVvcmcud3Bp" + 
+    "bGliLm1hdGgucHJvdG9CHFByb3RvYnVmQ29udHJvbGxlckRlc2NyaXB0b3JQAUqfCgoGEgQAACsBCggK" + 
+    "AQwSAwAAEgoICgECEgMCABIKCAoBCBIDBAAuCgkKAggBEgMEAC4KCAoBCBIDBgA9CgkKAggIEgMGAD0K" + 
+    "CAoBCBIDCAAiCgkKAggKEgMIACIKCgoCBAASBAoAEAEKCgoDBAABEgMKCB4KCwoEBAACABIDCwIQCgwK" + 
+    "BQQAAgAFEgMLAggKDAoFBAACAAESAwsJCwoMCgUEAAIAAxIDCw4PCgsKBAQAAgESAwwCEAoMCgUEAAIB" + 
+    "BRIDDAIICgwKBQQAAgEBEgMMCQsKDAoFBAACAQMSAwwODwoLCgQEAAICEgMNAhAKDAoFBAACAgUSAw0C" + 
+    "CAoMCgUEAAICARIDDQkLCgwKBQQAAgIDEgMNDg8KCwoEBAACAxIDDgIQCgwKBQQAAgMFEgMOAggKDAoF" + 
+    "BAACAwESAw4JCwoMCgUEAAIDAxIDDg4PCgsKBAQAAgQSAw8CEAoMCgUEAAIEBRIDDwIICgwKBQQAAgQB" + 
+    "EgMPCQsKDAoFBAACBAMSAw8ODwoKCgIEARIEEgAXAQoKCgMEAQESAxIILAoLCgQEAQIAEgMTAhcKDAoF" + 
+    "BAECAAUSAxMCCAoMCgUEAQIAARIDEwkSCgwKBQQBAgADEgMTFRYKCwoEBAECARIDFAIXCgwKBQQBAgEF" + 
+    "EgMUAggKDAoFBAECAQESAxQJEgoMCgUEAQIBAxIDFBUWCgsKBAQBAgISAxUCGAoMCgUEAQICBRIDFQII",
+    "CgwKBQQBAgIBEgMVCRMKDAoFBAECAgMSAxUWFwoLCgQEAQIDEgMWAhgKDAoFBAECAwUSAxYCCAoMCgUE" + 
+    "AQIDARIDFgkTCgwKBQQBAgMDEgMWFhcKCgoCBAISBBkAHwEKCgoDBAIBEgMZCCMKCwoEBAICABIDGgIQ" + 
+    "CgwKBQQCAgAFEgMaAggKDAoFBAICAAESAxoJCwoMCgUEAgIAAxIDGg4PCgsKBAQCAgESAxsCEAoMCgUE" + 
+    "AgIBBRIDGwIICgwKBQQCAgEBEgMbCQsKDAoFBAICAQMSAxsODwoLCgQEAgICEgMcAhAKDAoFBAICAgUS" + 
+    "AxwCCAoMCgUEAgICARIDHAkLCgwKBQQCAgIDEgMcDg8KCwoEBAICAxIDHQIQCgwKBQQCAgMFEgMdAggK" + 
+    "DAoFBAICAwESAx0JCwoMCgUEAgIDAxIDHQ4PCgsKBAQCAgQSAx4CEAoMCgUEAgIEBRIDHgIICgwKBQQC" + 
+    "AgQBEgMeCQsKDAoFBAICBAMSAx4ODwoKCgIEAxIEIQAmAQoKCgMEAwESAyEIJgoLCgQEAwIAEgMiAhAK" + 
+    "DAoFBAMCAAUSAyICCAoMCgUEAwIAARIDIgkLCgwKBQQDAgADEgMiDg8KCwoEBAMCARIDIwIQCgwKBQQD" + 
+    "AgEFEgMjAggKDAoFBAMCAQESAyMJCwoMCgUEAwIBAxIDIw4PCgsKBAQDAgISAyQCEAoMCgUEAwICBRID" + 
+    "JAIICgwKBQQDAgIBEgMkCQsKDAoFBAMCAgMSAyQODwoLCgQEAwIDEgMlAhAKDAoFBAMCAwUSAyUCCAoM" + 
+    "CgUEAwIDARIDJQkLCgwKBQQDAgMDEgMlDg8KCgoCBAQSBCgAKwEKCgoDBAQBEgMoCC4KCwoEBAQCABID" + 
+    "KQISCgwKBQQEAgAFEgMpAggKDAoFBAQCAAESAykJDQoMCgUEBAIAAxIDKRARCgsKBAQEAgESAyoCEwoM" + 
+    "CgUEBAIBBRIDKgIICgwKBQQEAgEBEgMqCQ4KDAoFBAQCAQMSAyoREmIGcHJvdG8z");
+
+  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("controller.proto", "wpi.proto", descriptorData);
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufArmFeedforward_descriptor = descriptor.internalContainedType(31, 104, "ProtobufArmFeedforward", "wpi.proto.ProtobufArmFeedforward");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveFeedforward_descriptor = descriptor.internalContainedType(138, 158, "ProtobufDifferentialDriveFeedforward", "wpi.proto.ProtobufDifferentialDriveFeedforward");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufElevatorFeedforward_descriptor = descriptor.internalContainedType(298, 109, "ProtobufElevatorFeedforward", "wpi.proto.ProtobufElevatorFeedforward");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufSimpleMotorFeedforward_descriptor = descriptor.internalContainedType(409, 96, "ProtobufSimpleMotorFeedforward", "wpi.proto.ProtobufSimpleMotorFeedforward");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelVoltages_descriptor = descriptor.internalContainedType(507, 82, "ProtobufDifferentialDriveWheelVoltages", "wpi.proto.ProtobufDifferentialDriveWheelVoltages");
+
+  /**
+   * @return this proto file's descriptor.
+   */
+  public static Descriptors.FileDescriptor getDescriptor() {
+    return descriptor;
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufCubicHermiteSpline.java

@@ -0,0 +1,674 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.RepeatedDouble;
+
+/**
+ * Protobuf type {@code ProtobufCubicHermiteSpline}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufCubicHermiteSpline extends ProtoMessage<ProtobufCubicHermiteSpline> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   */
+  private final RepeatedDouble xInitial = RepeatedDouble.newEmptyInstance();
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   */
+  private final RepeatedDouble xFinal = RepeatedDouble.newEmptyInstance();
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   */
+  private final RepeatedDouble yInitial = RepeatedDouble.newEmptyInstance();
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   */
+  private final RepeatedDouble yFinal = RepeatedDouble.newEmptyInstance();
+
+  private ProtobufCubicHermiteSpline() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufCubicHermiteSpline}
+   */
+  public static ProtobufCubicHermiteSpline newInstance() {
+    return new ProtobufCubicHermiteSpline();
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   * @return whether the xInitial field is set
+   */
+  public boolean hasXInitial() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline clearXInitial() {
+    bitField0_ &= ~0x00000001;
+    xInitial.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableXInitial()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getXInitial() {
+    return xInitial;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableXInitial() {
+    bitField0_ |= 0x00000001;
+    return xInitial;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   * @param value the xInitial to add
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline addXInitial(final double value) {
+    bitField0_ |= 0x00000001;
+    xInitial.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   * @param values the xInitial to add
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline addAllXInitial(final double... values) {
+    bitField0_ |= 0x00000001;
+    xInitial.addAll(values);
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   * @return whether the xFinal field is set
+   */
+  public boolean hasXFinal() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline clearXFinal() {
+    bitField0_ &= ~0x00000002;
+    xFinal.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableXFinal()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getXFinal() {
+    return xFinal;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableXFinal() {
+    bitField0_ |= 0x00000002;
+    return xFinal;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   * @param value the xFinal to add
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline addXFinal(final double value) {
+    bitField0_ |= 0x00000002;
+    xFinal.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   * @param values the xFinal to add
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline addAllXFinal(final double... values) {
+    bitField0_ |= 0x00000002;
+    xFinal.addAll(values);
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   * @return whether the yInitial field is set
+   */
+  public boolean hasYInitial() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline clearYInitial() {
+    bitField0_ &= ~0x00000004;
+    yInitial.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableYInitial()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getYInitial() {
+    return yInitial;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableYInitial() {
+    bitField0_ |= 0x00000004;
+    return yInitial;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   * @param value the yInitial to add
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline addYInitial(final double value) {
+    bitField0_ |= 0x00000004;
+    yInitial.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   * @param values the yInitial to add
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline addAllYInitial(final double... values) {
+    bitField0_ |= 0x00000004;
+    yInitial.addAll(values);
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   * @return whether the yFinal field is set
+   */
+  public boolean hasYFinal() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline clearYFinal() {
+    bitField0_ &= ~0x00000008;
+    yFinal.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableYFinal()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getYFinal() {
+    return yFinal;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableYFinal() {
+    bitField0_ |= 0x00000008;
+    return yFinal;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   * @param value the yFinal to add
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline addYFinal(final double value) {
+    bitField0_ |= 0x00000008;
+    yFinal.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   * @param values the yFinal to add
+   * @return this
+   */
+  public ProtobufCubicHermiteSpline addAllYFinal(final double... values) {
+    bitField0_ |= 0x00000008;
+    yFinal.addAll(values);
+    return this;
+  }
+
+  @Override
+  public ProtobufCubicHermiteSpline copyFrom(final ProtobufCubicHermiteSpline other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      xInitial.copyFrom(other.xInitial);
+      xFinal.copyFrom(other.xFinal);
+      yInitial.copyFrom(other.yInitial);
+      yFinal.copyFrom(other.yFinal);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufCubicHermiteSpline mergeFrom(final ProtobufCubicHermiteSpline other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasXInitial()) {
+      getMutableXInitial().addAll(other.xInitial);
+    }
+    if (other.hasXFinal()) {
+      getMutableXFinal().addAll(other.xFinal);
+    }
+    if (other.hasYInitial()) {
+      getMutableYInitial().addAll(other.yInitial);
+    }
+    if (other.hasYFinal()) {
+      getMutableYFinal().addAll(other.yFinal);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufCubicHermiteSpline clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    xInitial.clear();
+    xFinal.clear();
+    yInitial.clear();
+    yFinal.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufCubicHermiteSpline clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    xInitial.clear();
+    xFinal.clear();
+    yInitial.clear();
+    yFinal.clear();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufCubicHermiteSpline)) {
+      return false;
+    }
+    ProtobufCubicHermiteSpline other = (ProtobufCubicHermiteSpline) o;
+    return bitField0_ == other.bitField0_
+      && (!hasXInitial() || xInitial.equals(other.xInitial))
+      && (!hasXFinal() || xFinal.equals(other.xFinal))
+      && (!hasYInitial() || yInitial.equals(other.yInitial))
+      && (!hasYFinal() || yFinal.equals(other.yFinal));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      for (int i = 0; i < xInitial.length(); i++) {
+        output.writeRawByte((byte) 9);
+        output.writeDoubleNoTag(xInitial.array()[i]);
+      }
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      for (int i = 0; i < xFinal.length(); i++) {
+        output.writeRawByte((byte) 17);
+        output.writeDoubleNoTag(xFinal.array()[i]);
+      }
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      for (int i = 0; i < yInitial.length(); i++) {
+        output.writeRawByte((byte) 25);
+        output.writeDoubleNoTag(yInitial.array()[i]);
+      }
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      for (int i = 0; i < yFinal.length(); i++) {
+        output.writeRawByte((byte) 33);
+        output.writeDoubleNoTag(yFinal.array()[i]);
+      }
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += (1 + 8) * xInitial.length();
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += (1 + 8) * xFinal.length();
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += (1 + 8) * yInitial.length();
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += (1 + 8) * yFinal.length();
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufCubicHermiteSpline mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // xInitial [packed=true]
+          input.readPackedDouble(xInitial);
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // xFinal [packed=true]
+          input.readPackedDouble(xFinal);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 26) {
+            break;
+          }
+        }
+        case 26: {
+          // yInitial [packed=true]
+          input.readPackedDouble(yInitial);
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 34) {
+            break;
+          }
+        }
+        case 34: {
+          // yFinal [packed=true]
+          input.readPackedDouble(yFinal);
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+        case 9: {
+          // xInitial [packed=false]
+          tag = input.readRepeatedDouble(xInitial, tag);
+          bitField0_ |= 0x00000001;
+          break;
+        }
+        case 17: {
+          // xFinal [packed=false]
+          tag = input.readRepeatedDouble(xFinal, tag);
+          bitField0_ |= 0x00000002;
+          break;
+        }
+        case 25: {
+          // yInitial [packed=false]
+          tag = input.readRepeatedDouble(yInitial, tag);
+          bitField0_ |= 0x00000004;
+          break;
+        }
+        case 33: {
+          // yFinal [packed=false]
+          tag = input.readRepeatedDouble(yFinal, tag);
+          bitField0_ |= 0x00000008;
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRepeatedDouble(FieldNames.xInitial, xInitial);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRepeatedDouble(FieldNames.xFinal, xFinal);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRepeatedDouble(FieldNames.yInitial, yInitial);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRepeatedDouble(FieldNames.yFinal, yFinal);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufCubicHermiteSpline mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -1998129236:
+        case -2134571395: {
+          if (input.isAtField(FieldNames.xInitial)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(xInitial);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -791585826:
+        case 1943464687: {
+          if (input.isAtField(FieldNames.xFinal)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(xFinal);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -255318901:
+        case 352941438: {
+          if (input.isAtField(FieldNames.yInitial)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(yInitial);
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -762956675:
+        case -1463998928: {
+          if (input.isAtField(FieldNames.yFinal)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(yFinal);
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufCubicHermiteSpline clone() {
+    return new ProtobufCubicHermiteSpline().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufCubicHermiteSpline parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufCubicHermiteSpline(), data).checkInitialized();
+  }
+
+  public static ProtobufCubicHermiteSpline parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufCubicHermiteSpline(), input).checkInitialized();
+  }
+
+  public static ProtobufCubicHermiteSpline parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufCubicHermiteSpline(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufCubicHermiteSpline messages
+   */
+  public static MessageFactory<ProtobufCubicHermiteSpline> getFactory() {
+    return ProtobufCubicHermiteSplineFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufSplineDescriptor.wpi_proto_ProtobufCubicHermiteSpline_descriptor;
+  }
+
+  private enum ProtobufCubicHermiteSplineFactory implements MessageFactory<ProtobufCubicHermiteSpline> {
+    INSTANCE;
+
+    @Override
+    public ProtobufCubicHermiteSpline create() {
+      return ProtobufCubicHermiteSpline.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName xInitial = FieldName.forField("xInitial", "x_initial");
+
+    static final FieldName xFinal = FieldName.forField("xFinal", "x_final");
+
+    static final FieldName yInitial = FieldName.forField("yInitial", "y_initial");
+
+    static final FieldName yFinal = FieldName.forField("yFinal", "y_final");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufDCMotor.java

@@ -0,0 +1,594 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufDCMotor}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufDCMotor extends ProtoMessage<ProtobufDCMotor> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double nominal_voltage = 1;</code>
+   */
+  private double nominalVoltage;
+
+  /**
+   * <code>optional double stall_torque = 2;</code>
+   */
+  private double stallTorque;
+
+  /**
+   * <code>optional double stall_current = 3;</code>
+   */
+  private double stallCurrent;
+
+  /**
+   * <code>optional double free_current = 4;</code>
+   */
+  private double freeCurrent;
+
+  /**
+   * <code>optional double free_speed = 5;</code>
+   */
+  private double freeSpeed;
+
+  private ProtobufDCMotor() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufDCMotor}
+   */
+  public static ProtobufDCMotor newInstance() {
+    return new ProtobufDCMotor();
+  }
+
+  /**
+   * <code>optional double nominal_voltage = 1;</code>
+   * @return whether the nominalVoltage field is set
+   */
+  public boolean hasNominalVoltage() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double nominal_voltage = 1;</code>
+   * @return this
+   */
+  public ProtobufDCMotor clearNominalVoltage() {
+    bitField0_ &= ~0x00000001;
+    nominalVoltage = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double nominal_voltage = 1;</code>
+   * @return the nominalVoltage
+   */
+  public double getNominalVoltage() {
+    return nominalVoltage;
+  }
+
+  /**
+   * <code>optional double nominal_voltage = 1;</code>
+   * @param value the nominalVoltage to set
+   * @return this
+   */
+  public ProtobufDCMotor setNominalVoltage(final double value) {
+    bitField0_ |= 0x00000001;
+    nominalVoltage = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double stall_torque = 2;</code>
+   * @return whether the stallTorque field is set
+   */
+  public boolean hasStallTorque() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double stall_torque = 2;</code>
+   * @return this
+   */
+  public ProtobufDCMotor clearStallTorque() {
+    bitField0_ &= ~0x00000002;
+    stallTorque = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double stall_torque = 2;</code>
+   * @return the stallTorque
+   */
+  public double getStallTorque() {
+    return stallTorque;
+  }
+
+  /**
+   * <code>optional double stall_torque = 2;</code>
+   * @param value the stallTorque to set
+   * @return this
+   */
+  public ProtobufDCMotor setStallTorque(final double value) {
+    bitField0_ |= 0x00000002;
+    stallTorque = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double stall_current = 3;</code>
+   * @return whether the stallCurrent field is set
+   */
+  public boolean hasStallCurrent() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double stall_current = 3;</code>
+   * @return this
+   */
+  public ProtobufDCMotor clearStallCurrent() {
+    bitField0_ &= ~0x00000004;
+    stallCurrent = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double stall_current = 3;</code>
+   * @return the stallCurrent
+   */
+  public double getStallCurrent() {
+    return stallCurrent;
+  }
+
+  /**
+   * <code>optional double stall_current = 3;</code>
+   * @param value the stallCurrent to set
+   * @return this
+   */
+  public ProtobufDCMotor setStallCurrent(final double value) {
+    bitField0_ |= 0x00000004;
+    stallCurrent = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double free_current = 4;</code>
+   * @return whether the freeCurrent field is set
+   */
+  public boolean hasFreeCurrent() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double free_current = 4;</code>
+   * @return this
+   */
+  public ProtobufDCMotor clearFreeCurrent() {
+    bitField0_ &= ~0x00000008;
+    freeCurrent = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double free_current = 4;</code>
+   * @return the freeCurrent
+   */
+  public double getFreeCurrent() {
+    return freeCurrent;
+  }
+
+  /**
+   * <code>optional double free_current = 4;</code>
+   * @param value the freeCurrent to set
+   * @return this
+   */
+  public ProtobufDCMotor setFreeCurrent(final double value) {
+    bitField0_ |= 0x00000008;
+    freeCurrent = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double free_speed = 5;</code>
+   * @return whether the freeSpeed field is set
+   */
+  public boolean hasFreeSpeed() {
+    return (bitField0_ & 0x00000010) != 0;
+  }
+
+  /**
+   * <code>optional double free_speed = 5;</code>
+   * @return this
+   */
+  public ProtobufDCMotor clearFreeSpeed() {
+    bitField0_ &= ~0x00000010;
+    freeSpeed = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double free_speed = 5;</code>
+   * @return the freeSpeed
+   */
+  public double getFreeSpeed() {
+    return freeSpeed;
+  }
+
+  /**
+   * <code>optional double free_speed = 5;</code>
+   * @param value the freeSpeed to set
+   * @return this
+   */
+  public ProtobufDCMotor setFreeSpeed(final double value) {
+    bitField0_ |= 0x00000010;
+    freeSpeed = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufDCMotor copyFrom(final ProtobufDCMotor other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      nominalVoltage = other.nominalVoltage;
+      stallTorque = other.stallTorque;
+      stallCurrent = other.stallCurrent;
+      freeCurrent = other.freeCurrent;
+      freeSpeed = other.freeSpeed;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDCMotor mergeFrom(final ProtobufDCMotor other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasNominalVoltage()) {
+      setNominalVoltage(other.nominalVoltage);
+    }
+    if (other.hasStallTorque()) {
+      setStallTorque(other.stallTorque);
+    }
+    if (other.hasStallCurrent()) {
+      setStallCurrent(other.stallCurrent);
+    }
+    if (other.hasFreeCurrent()) {
+      setFreeCurrent(other.freeCurrent);
+    }
+    if (other.hasFreeSpeed()) {
+      setFreeSpeed(other.freeSpeed);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDCMotor clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    nominalVoltage = 0D;
+    stallTorque = 0D;
+    stallCurrent = 0D;
+    freeCurrent = 0D;
+    freeSpeed = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufDCMotor clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufDCMotor)) {
+      return false;
+    }
+    ProtobufDCMotor other = (ProtobufDCMotor) o;
+    return bitField0_ == other.bitField0_
+      && (!hasNominalVoltage() || ProtoUtil.isEqual(nominalVoltage, other.nominalVoltage))
+      && (!hasStallTorque() || ProtoUtil.isEqual(stallTorque, other.stallTorque))
+      && (!hasStallCurrent() || ProtoUtil.isEqual(stallCurrent, other.stallCurrent))
+      && (!hasFreeCurrent() || ProtoUtil.isEqual(freeCurrent, other.freeCurrent))
+      && (!hasFreeSpeed() || ProtoUtil.isEqual(freeSpeed, other.freeSpeed));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(nominalVoltage);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(stallTorque);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(stallCurrent);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(freeCurrent);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeRawByte((byte) 41);
+      output.writeDoubleNoTag(freeSpeed);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufDCMotor mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // nominalVoltage
+          nominalVoltage = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // stallTorque
+          stallTorque = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // stallCurrent
+          stallCurrent = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // freeCurrent
+          freeCurrent = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 41) {
+            break;
+          }
+        }
+        case 41: {
+          // freeSpeed
+          freeSpeed = input.readDouble();
+          bitField0_ |= 0x00000010;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.nominalVoltage, nominalVoltage);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.stallTorque, stallTorque);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.stallCurrent, stallCurrent);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.freeCurrent, freeCurrent);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeDouble(FieldNames.freeSpeed, freeSpeed);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufDCMotor mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 1374862050:
+        case 173092603: {
+          if (input.isAtField(FieldNames.nominalVoltage)) {
+            if (!input.trySkipNullValue()) {
+              nominalVoltage = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 2075810250:
+        case 1238615945: {
+          if (input.isAtField(FieldNames.stallTorque)) {
+            if (!input.trySkipNullValue()) {
+              stallTorque = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -2105262663:
+        case 2006484954: {
+          if (input.isAtField(FieldNames.stallCurrent)) {
+            if (!input.trySkipNullValue()) {
+              stallCurrent = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 1024355693:
+        case 240406182: {
+          if (input.isAtField(FieldNames.freeCurrent)) {
+            if (!input.trySkipNullValue()) {
+              freeCurrent = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -444654277:
+        case -552732492: {
+          if (input.isAtField(FieldNames.freeSpeed)) {
+            if (!input.trySkipNullValue()) {
+              freeSpeed = input.readDouble();
+              bitField0_ |= 0x00000010;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufDCMotor clone() {
+    return new ProtobufDCMotor().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufDCMotor parseFrom(final byte[] data) throws InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufDCMotor(), data).checkInitialized();
+  }
+
+  public static ProtobufDCMotor parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDCMotor(), input).checkInitialized();
+  }
+
+  public static ProtobufDCMotor parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDCMotor(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufDCMotor messages
+   */
+  public static MessageFactory<ProtobufDCMotor> getFactory() {
+    return ProtobufDCMotorFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufSystemDescriptor.wpi_proto_ProtobufDCMotor_descriptor;
+  }
+
+  private enum ProtobufDCMotorFactory implements MessageFactory<ProtobufDCMotor> {
+    INSTANCE;
+
+    @Override
+    public ProtobufDCMotor create() {
+      return ProtobufDCMotor.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName nominalVoltage = FieldName.forField("nominalVoltage", "nominal_voltage");
+
+    static final FieldName stallTorque = FieldName.forField("stallTorque", "stall_torque");
+
+    static final FieldName stallCurrent = FieldName.forField("stallCurrent", "stall_current");
+
+    static final FieldName freeCurrent = FieldName.forField("freeCurrent", "free_current");
+
+    static final FieldName freeSpeed = FieldName.forField("freeSpeed", "free_speed");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufDifferentialDriveFeedforward.java

@@ -0,0 +1,519 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufDifferentialDriveFeedforward}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufDifferentialDriveFeedforward extends ProtoMessage<ProtobufDifferentialDriveFeedforward> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double kv_linear = 1;</code>
+   */
+  private double kvLinear;
+
+  /**
+   * <code>optional double ka_linear = 2;</code>
+   */
+  private double kaLinear;
+
+  /**
+   * <code>optional double kv_angular = 3;</code>
+   */
+  private double kvAngular;
+
+  /**
+   * <code>optional double ka_angular = 4;</code>
+   */
+  private double kaAngular;
+
+  private ProtobufDifferentialDriveFeedforward() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufDifferentialDriveFeedforward}
+   */
+  public static ProtobufDifferentialDriveFeedforward newInstance() {
+    return new ProtobufDifferentialDriveFeedforward();
+  }
+
+  /**
+   * <code>optional double kv_linear = 1;</code>
+   * @return whether the kvLinear field is set
+   */
+  public boolean hasKvLinear() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double kv_linear = 1;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveFeedforward clearKvLinear() {
+    bitField0_ &= ~0x00000001;
+    kvLinear = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double kv_linear = 1;</code>
+   * @return the kvLinear
+   */
+  public double getKvLinear() {
+    return kvLinear;
+  }
+
+  /**
+   * <code>optional double kv_linear = 1;</code>
+   * @param value the kvLinear to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveFeedforward setKvLinear(final double value) {
+    bitField0_ |= 0x00000001;
+    kvLinear = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka_linear = 2;</code>
+   * @return whether the kaLinear field is set
+   */
+  public boolean hasKaLinear() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double ka_linear = 2;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveFeedforward clearKaLinear() {
+    bitField0_ &= ~0x00000002;
+    kaLinear = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka_linear = 2;</code>
+   * @return the kaLinear
+   */
+  public double getKaLinear() {
+    return kaLinear;
+  }
+
+  /**
+   * <code>optional double ka_linear = 2;</code>
+   * @param value the kaLinear to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveFeedforward setKaLinear(final double value) {
+    bitField0_ |= 0x00000002;
+    kaLinear = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double kv_angular = 3;</code>
+   * @return whether the kvAngular field is set
+   */
+  public boolean hasKvAngular() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double kv_angular = 3;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveFeedforward clearKvAngular() {
+    bitField0_ &= ~0x00000004;
+    kvAngular = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double kv_angular = 3;</code>
+   * @return the kvAngular
+   */
+  public double getKvAngular() {
+    return kvAngular;
+  }
+
+  /**
+   * <code>optional double kv_angular = 3;</code>
+   * @param value the kvAngular to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveFeedforward setKvAngular(final double value) {
+    bitField0_ |= 0x00000004;
+    kvAngular = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka_angular = 4;</code>
+   * @return whether the kaAngular field is set
+   */
+  public boolean hasKaAngular() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double ka_angular = 4;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveFeedforward clearKaAngular() {
+    bitField0_ &= ~0x00000008;
+    kaAngular = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka_angular = 4;</code>
+   * @return the kaAngular
+   */
+  public double getKaAngular() {
+    return kaAngular;
+  }
+
+  /**
+   * <code>optional double ka_angular = 4;</code>
+   * @param value the kaAngular to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveFeedforward setKaAngular(final double value) {
+    bitField0_ |= 0x00000008;
+    kaAngular = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveFeedforward copyFrom(
+      final ProtobufDifferentialDriveFeedforward other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      kvLinear = other.kvLinear;
+      kaLinear = other.kaLinear;
+      kvAngular = other.kvAngular;
+      kaAngular = other.kaAngular;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveFeedforward mergeFrom(
+      final ProtobufDifferentialDriveFeedforward other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasKvLinear()) {
+      setKvLinear(other.kvLinear);
+    }
+    if (other.hasKaLinear()) {
+      setKaLinear(other.kaLinear);
+    }
+    if (other.hasKvAngular()) {
+      setKvAngular(other.kvAngular);
+    }
+    if (other.hasKaAngular()) {
+      setKaAngular(other.kaAngular);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveFeedforward clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    kvLinear = 0D;
+    kaLinear = 0D;
+    kvAngular = 0D;
+    kaAngular = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveFeedforward clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufDifferentialDriveFeedforward)) {
+      return false;
+    }
+    ProtobufDifferentialDriveFeedforward other = (ProtobufDifferentialDriveFeedforward) o;
+    return bitField0_ == other.bitField0_
+      && (!hasKvLinear() || ProtoUtil.isEqual(kvLinear, other.kvLinear))
+      && (!hasKaLinear() || ProtoUtil.isEqual(kaLinear, other.kaLinear))
+      && (!hasKvAngular() || ProtoUtil.isEqual(kvAngular, other.kvAngular))
+      && (!hasKaAngular() || ProtoUtil.isEqual(kaAngular, other.kaAngular));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(kvLinear);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(kaLinear);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(kvAngular);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(kaAngular);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufDifferentialDriveFeedforward mergeFrom(final ProtoSource input) throws
+      IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // kvLinear
+          kvLinear = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // kaLinear
+          kaLinear = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // kvAngular
+          kvAngular = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // kaAngular
+          kaAngular = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.kvLinear, kvLinear);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.kaLinear, kaLinear);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.kvAngular, kvAngular);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.kaAngular, kaAngular);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufDifferentialDriveFeedforward mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 1424526448:
+        case 974889081: {
+          if (input.isAtField(FieldNames.kvLinear)) {
+            if (!input.trySkipNullValue()) {
+              kvLinear = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -33181669:
+        case -1264389586: {
+          if (input.isAtField(FieldNames.kaLinear)) {
+            if (!input.trySkipNullValue()) {
+              kaLinear = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 175208951:
+        case -878647538: {
+          if (input.isAtField(FieldNames.kvAngular)) {
+            if (!input.trySkipNullValue()) {
+              kvAngular = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -2064069716:
+        case -1576809479: {
+          if (input.isAtField(FieldNames.kaAngular)) {
+            if (!input.trySkipNullValue()) {
+              kaAngular = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveFeedforward clone() {
+    return new ProtobufDifferentialDriveFeedforward().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufDifferentialDriveFeedforward parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveFeedforward(), data).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveFeedforward parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveFeedforward(), input).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveFeedforward parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveFeedforward(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufDifferentialDriveFeedforward messages
+   */
+  public static MessageFactory<ProtobufDifferentialDriveFeedforward> getFactory() {
+    return ProtobufDifferentialDriveFeedforwardFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufControllerDescriptor.wpi_proto_ProtobufDifferentialDriveFeedforward_descriptor;
+  }
+
+  private enum ProtobufDifferentialDriveFeedforwardFactory implements MessageFactory<ProtobufDifferentialDriveFeedforward> {
+    INSTANCE;
+
+    @Override
+    public ProtobufDifferentialDriveFeedforward create() {
+      return ProtobufDifferentialDriveFeedforward.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName kvLinear = FieldName.forField("kvLinear", "kv_linear");
+
+    static final FieldName kaLinear = FieldName.forField("kaLinear", "ka_linear");
+
+    static final FieldName kvAngular = FieldName.forField("kvAngular", "kv_angular");
+
+    static final FieldName kaAngular = FieldName.forField("kaAngular", "ka_angular");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufDifferentialDriveKinematics.java

@@ -0,0 +1,274 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufDifferentialDriveKinematics}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufDifferentialDriveKinematics extends ProtoMessage<ProtobufDifferentialDriveKinematics> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double trackwidth = 1;</code>
+   */
+  private double trackwidth;
+
+  private ProtobufDifferentialDriveKinematics() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufDifferentialDriveKinematics}
+   */
+  public static ProtobufDifferentialDriveKinematics newInstance() {
+    return new ProtobufDifferentialDriveKinematics();
+  }
+
+  /**
+   * <code>optional double trackwidth = 1;</code>
+   * @return whether the trackwidth field is set
+   */
+  public boolean hasTrackwidth() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double trackwidth = 1;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveKinematics clearTrackwidth() {
+    bitField0_ &= ~0x00000001;
+    trackwidth = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double trackwidth = 1;</code>
+   * @return the trackwidth
+   */
+  public double getTrackwidth() {
+    return trackwidth;
+  }
+
+  /**
+   * <code>optional double trackwidth = 1;</code>
+   * @param value the trackwidth to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveKinematics setTrackwidth(final double value) {
+    bitField0_ |= 0x00000001;
+    trackwidth = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveKinematics copyFrom(
+      final ProtobufDifferentialDriveKinematics other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      trackwidth = other.trackwidth;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveKinematics mergeFrom(
+      final ProtobufDifferentialDriveKinematics other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasTrackwidth()) {
+      setTrackwidth(other.trackwidth);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveKinematics clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    trackwidth = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveKinematics clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufDifferentialDriveKinematics)) {
+      return false;
+    }
+    ProtobufDifferentialDriveKinematics other = (ProtobufDifferentialDriveKinematics) o;
+    return bitField0_ == other.bitField0_
+      && (!hasTrackwidth() || ProtoUtil.isEqual(trackwidth, other.trackwidth));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(trackwidth);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufDifferentialDriveKinematics mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // trackwidth
+          trackwidth = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.trackwidth, trackwidth);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufDifferentialDriveKinematics mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 1181766491: {
+          if (input.isAtField(FieldNames.trackwidth)) {
+            if (!input.trySkipNullValue()) {
+              trackwidth = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveKinematics clone() {
+    return new ProtobufDifferentialDriveKinematics().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufDifferentialDriveKinematics parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveKinematics(), data).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveKinematics parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveKinematics(), input).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveKinematics parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveKinematics(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufDifferentialDriveKinematics messages
+   */
+  public static MessageFactory<ProtobufDifferentialDriveKinematics> getFactory() {
+    return ProtobufDifferentialDriveKinematicsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufDifferentialDriveKinematics_descriptor;
+  }
+
+  private enum ProtobufDifferentialDriveKinematicsFactory implements MessageFactory<ProtobufDifferentialDriveKinematics> {
+    INSTANCE;
+
+    @Override
+    public ProtobufDifferentialDriveKinematics create() {
+      return ProtobufDifferentialDriveKinematics.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName trackwidth = FieldName.forField("trackwidth");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufDifferentialDriveWheelAccelerations.java

@@ -0,0 +1,356 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufDifferentialDriveWheelAccelerations}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufDifferentialDriveWheelAccelerations extends ProtoMessage<ProtobufDifferentialDriveWheelAccelerations> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double left = 1;</code>
+   */
+  private double left;
+
+  /**
+   * <code>optional double right = 2;</code>
+   */
+  private double right;
+
+  private ProtobufDifferentialDriveWheelAccelerations() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufDifferentialDriveWheelAccelerations}
+   */
+  public static ProtobufDifferentialDriveWheelAccelerations newInstance() {
+    return new ProtobufDifferentialDriveWheelAccelerations();
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return whether the left field is set
+   */
+  public boolean hasLeft() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelAccelerations clearLeft() {
+    bitField0_ &= ~0x00000001;
+    left = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return the left
+   */
+  public double getLeft() {
+    return left;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @param value the left to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelAccelerations setLeft(final double value) {
+    bitField0_ |= 0x00000001;
+    left = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return whether the right field is set
+   */
+  public boolean hasRight() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelAccelerations clearRight() {
+    bitField0_ &= ~0x00000002;
+    right = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return the right
+   */
+  public double getRight() {
+    return right;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @param value the right to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelAccelerations setRight(final double value) {
+    bitField0_ |= 0x00000002;
+    right = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelAccelerations copyFrom(
+      final ProtobufDifferentialDriveWheelAccelerations other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      left = other.left;
+      right = other.right;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelAccelerations mergeFrom(
+      final ProtobufDifferentialDriveWheelAccelerations other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasLeft()) {
+      setLeft(other.left);
+    }
+    if (other.hasRight()) {
+      setRight(other.right);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelAccelerations clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    left = 0D;
+    right = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelAccelerations clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufDifferentialDriveWheelAccelerations)) {
+      return false;
+    }
+    ProtobufDifferentialDriveWheelAccelerations other = (ProtobufDifferentialDriveWheelAccelerations) o;
+    return bitField0_ == other.bitField0_
+      && (!hasLeft() || ProtoUtil.isEqual(left, other.left))
+      && (!hasRight() || ProtoUtil.isEqual(right, other.right));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(left);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(right);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufDifferentialDriveWheelAccelerations mergeFrom(final ProtoSource input) throws
+      IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // left
+          left = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // right
+          right = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.left, left);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.right, right);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelAccelerations mergeFrom(final JsonSource input) throws
+      IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3317767: {
+          if (input.isAtField(FieldNames.left)) {
+            if (!input.trySkipNullValue()) {
+              left = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 108511772: {
+          if (input.isAtField(FieldNames.right)) {
+            if (!input.trySkipNullValue()) {
+              right = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelAccelerations clone() {
+    return new ProtobufDifferentialDriveWheelAccelerations().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufDifferentialDriveWheelAccelerations parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelAccelerations(), data).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveWheelAccelerations parseFrom(final ProtoSource input)
+      throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelAccelerations(), input).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveWheelAccelerations parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelAccelerations(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufDifferentialDriveWheelAccelerations messages
+   */
+  public static MessageFactory<ProtobufDifferentialDriveWheelAccelerations> getFactory() {
+    return ProtobufDifferentialDriveWheelAccelerationsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufDifferentialDriveWheelAccelerations_descriptor;
+  }
+
+  private enum ProtobufDifferentialDriveWheelAccelerationsFactory implements MessageFactory<ProtobufDifferentialDriveWheelAccelerations> {
+    INSTANCE;
+
+    @Override
+    public ProtobufDifferentialDriveWheelAccelerations create() {
+      return ProtobufDifferentialDriveWheelAccelerations.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName left = FieldName.forField("left");
+
+    static final FieldName right = FieldName.forField("right");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufDifferentialDriveWheelPositions.java

@@ -0,0 +1,356 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufDifferentialDriveWheelPositions}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufDifferentialDriveWheelPositions extends ProtoMessage<ProtobufDifferentialDriveWheelPositions> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double left = 1;</code>
+   */
+  private double left;
+
+  /**
+   * <code>optional double right = 2;</code>
+   */
+  private double right;
+
+  private ProtobufDifferentialDriveWheelPositions() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufDifferentialDriveWheelPositions}
+   */
+  public static ProtobufDifferentialDriveWheelPositions newInstance() {
+    return new ProtobufDifferentialDriveWheelPositions();
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return whether the left field is set
+   */
+  public boolean hasLeft() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelPositions clearLeft() {
+    bitField0_ &= ~0x00000001;
+    left = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return the left
+   */
+  public double getLeft() {
+    return left;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @param value the left to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelPositions setLeft(final double value) {
+    bitField0_ |= 0x00000001;
+    left = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return whether the right field is set
+   */
+  public boolean hasRight() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelPositions clearRight() {
+    bitField0_ &= ~0x00000002;
+    right = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return the right
+   */
+  public double getRight() {
+    return right;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @param value the right to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelPositions setRight(final double value) {
+    bitField0_ |= 0x00000002;
+    right = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelPositions copyFrom(
+      final ProtobufDifferentialDriveWheelPositions other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      left = other.left;
+      right = other.right;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelPositions mergeFrom(
+      final ProtobufDifferentialDriveWheelPositions other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasLeft()) {
+      setLeft(other.left);
+    }
+    if (other.hasRight()) {
+      setRight(other.right);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelPositions clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    left = 0D;
+    right = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelPositions clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufDifferentialDriveWheelPositions)) {
+      return false;
+    }
+    ProtobufDifferentialDriveWheelPositions other = (ProtobufDifferentialDriveWheelPositions) o;
+    return bitField0_ == other.bitField0_
+      && (!hasLeft() || ProtoUtil.isEqual(left, other.left))
+      && (!hasRight() || ProtoUtil.isEqual(right, other.right));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(left);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(right);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufDifferentialDriveWheelPositions mergeFrom(final ProtoSource input) throws
+      IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // left
+          left = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // right
+          right = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.left, left);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.right, right);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelPositions mergeFrom(final JsonSource input) throws
+      IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3317767: {
+          if (input.isAtField(FieldNames.left)) {
+            if (!input.trySkipNullValue()) {
+              left = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 108511772: {
+          if (input.isAtField(FieldNames.right)) {
+            if (!input.trySkipNullValue()) {
+              right = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelPositions clone() {
+    return new ProtobufDifferentialDriveWheelPositions().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufDifferentialDriveWheelPositions parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelPositions(), data).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveWheelPositions parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelPositions(), input).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveWheelPositions parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelPositions(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufDifferentialDriveWheelPositions messages
+   */
+  public static MessageFactory<ProtobufDifferentialDriveWheelPositions> getFactory() {
+    return ProtobufDifferentialDriveWheelPositionsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufDifferentialDriveWheelPositions_descriptor;
+  }
+
+  private enum ProtobufDifferentialDriveWheelPositionsFactory implements MessageFactory<ProtobufDifferentialDriveWheelPositions> {
+    INSTANCE;
+
+    @Override
+    public ProtobufDifferentialDriveWheelPositions create() {
+      return ProtobufDifferentialDriveWheelPositions.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName left = FieldName.forField("left");
+
+    static final FieldName right = FieldName.forField("right");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufDifferentialDriveWheelSpeeds.java

@@ -0,0 +1,355 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufDifferentialDriveWheelSpeeds}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufDifferentialDriveWheelSpeeds extends ProtoMessage<ProtobufDifferentialDriveWheelSpeeds> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double left = 1;</code>
+   */
+  private double left;
+
+  /**
+   * <code>optional double right = 2;</code>
+   */
+  private double right;
+
+  private ProtobufDifferentialDriveWheelSpeeds() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufDifferentialDriveWheelSpeeds}
+   */
+  public static ProtobufDifferentialDriveWheelSpeeds newInstance() {
+    return new ProtobufDifferentialDriveWheelSpeeds();
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return whether the left field is set
+   */
+  public boolean hasLeft() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelSpeeds clearLeft() {
+    bitField0_ &= ~0x00000001;
+    left = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return the left
+   */
+  public double getLeft() {
+    return left;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @param value the left to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelSpeeds setLeft(final double value) {
+    bitField0_ |= 0x00000001;
+    left = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return whether the right field is set
+   */
+  public boolean hasRight() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelSpeeds clearRight() {
+    bitField0_ &= ~0x00000002;
+    right = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return the right
+   */
+  public double getRight() {
+    return right;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @param value the right to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelSpeeds setRight(final double value) {
+    bitField0_ |= 0x00000002;
+    right = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelSpeeds copyFrom(
+      final ProtobufDifferentialDriveWheelSpeeds other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      left = other.left;
+      right = other.right;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelSpeeds mergeFrom(
+      final ProtobufDifferentialDriveWheelSpeeds other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasLeft()) {
+      setLeft(other.left);
+    }
+    if (other.hasRight()) {
+      setRight(other.right);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelSpeeds clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    left = 0D;
+    right = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelSpeeds clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufDifferentialDriveWheelSpeeds)) {
+      return false;
+    }
+    ProtobufDifferentialDriveWheelSpeeds other = (ProtobufDifferentialDriveWheelSpeeds) o;
+    return bitField0_ == other.bitField0_
+      && (!hasLeft() || ProtoUtil.isEqual(left, other.left))
+      && (!hasRight() || ProtoUtil.isEqual(right, other.right));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(left);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(right);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufDifferentialDriveWheelSpeeds mergeFrom(final ProtoSource input) throws
+      IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // left
+          left = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // right
+          right = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.left, left);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.right, right);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelSpeeds mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3317767: {
+          if (input.isAtField(FieldNames.left)) {
+            if (!input.trySkipNullValue()) {
+              left = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 108511772: {
+          if (input.isAtField(FieldNames.right)) {
+            if (!input.trySkipNullValue()) {
+              right = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelSpeeds clone() {
+    return new ProtobufDifferentialDriveWheelSpeeds().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufDifferentialDriveWheelSpeeds parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelSpeeds(), data).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveWheelSpeeds parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelSpeeds(), input).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveWheelSpeeds parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelSpeeds(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufDifferentialDriveWheelSpeeds messages
+   */
+  public static MessageFactory<ProtobufDifferentialDriveWheelSpeeds> getFactory() {
+    return ProtobufDifferentialDriveWheelSpeedsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufDifferentialDriveWheelSpeeds_descriptor;
+  }
+
+  private enum ProtobufDifferentialDriveWheelSpeedsFactory implements MessageFactory<ProtobufDifferentialDriveWheelSpeeds> {
+    INSTANCE;
+
+    @Override
+    public ProtobufDifferentialDriveWheelSpeeds create() {
+      return ProtobufDifferentialDriveWheelSpeeds.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName left = FieldName.forField("left");
+
+    static final FieldName right = FieldName.forField("right");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufDifferentialDriveWheelVoltages.java

@@ -0,0 +1,356 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufDifferentialDriveWheelVoltages}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufDifferentialDriveWheelVoltages extends ProtoMessage<ProtobufDifferentialDriveWheelVoltages> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double left = 1;</code>
+   */
+  private double left;
+
+  /**
+   * <code>optional double right = 2;</code>
+   */
+  private double right;
+
+  private ProtobufDifferentialDriveWheelVoltages() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufDifferentialDriveWheelVoltages}
+   */
+  public static ProtobufDifferentialDriveWheelVoltages newInstance() {
+    return new ProtobufDifferentialDriveWheelVoltages();
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return whether the left field is set
+   */
+  public boolean hasLeft() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelVoltages clearLeft() {
+    bitField0_ &= ~0x00000001;
+    left = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @return the left
+   */
+  public double getLeft() {
+    return left;
+  }
+
+  /**
+   * <code>optional double left = 1;</code>
+   * @param value the left to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelVoltages setLeft(final double value) {
+    bitField0_ |= 0x00000001;
+    left = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return whether the right field is set
+   */
+  public boolean hasRight() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelVoltages clearRight() {
+    bitField0_ &= ~0x00000002;
+    right = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @return the right
+   */
+  public double getRight() {
+    return right;
+  }
+
+  /**
+   * <code>optional double right = 2;</code>
+   * @param value the right to set
+   * @return this
+   */
+  public ProtobufDifferentialDriveWheelVoltages setRight(final double value) {
+    bitField0_ |= 0x00000002;
+    right = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelVoltages copyFrom(
+      final ProtobufDifferentialDriveWheelVoltages other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      left = other.left;
+      right = other.right;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelVoltages mergeFrom(
+      final ProtobufDifferentialDriveWheelVoltages other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasLeft()) {
+      setLeft(other.left);
+    }
+    if (other.hasRight()) {
+      setRight(other.right);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelVoltages clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    left = 0D;
+    right = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelVoltages clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufDifferentialDriveWheelVoltages)) {
+      return false;
+    }
+    ProtobufDifferentialDriveWheelVoltages other = (ProtobufDifferentialDriveWheelVoltages) o;
+    return bitField0_ == other.bitField0_
+      && (!hasLeft() || ProtoUtil.isEqual(left, other.left))
+      && (!hasRight() || ProtoUtil.isEqual(right, other.right));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(left);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(right);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufDifferentialDriveWheelVoltages mergeFrom(final ProtoSource input) throws
+      IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // left
+          left = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // right
+          right = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.left, left);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.right, right);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelVoltages mergeFrom(final JsonSource input) throws
+      IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3317767: {
+          if (input.isAtField(FieldNames.left)) {
+            if (!input.trySkipNullValue()) {
+              left = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 108511772: {
+          if (input.isAtField(FieldNames.right)) {
+            if (!input.trySkipNullValue()) {
+              right = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufDifferentialDriveWheelVoltages clone() {
+    return new ProtobufDifferentialDriveWheelVoltages().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufDifferentialDriveWheelVoltages parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelVoltages(), data).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveWheelVoltages parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelVoltages(), input).checkInitialized();
+  }
+
+  public static ProtobufDifferentialDriveWheelVoltages parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelVoltages(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufDifferentialDriveWheelVoltages messages
+   */
+  public static MessageFactory<ProtobufDifferentialDriveWheelVoltages> getFactory() {
+    return ProtobufDifferentialDriveWheelVoltagesFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufControllerDescriptor.wpi_proto_ProtobufDifferentialDriveWheelVoltages_descriptor;
+  }
+
+  private enum ProtobufDifferentialDriveWheelVoltagesFactory implements MessageFactory<ProtobufDifferentialDriveWheelVoltages> {
+    INSTANCE;
+
+    @Override
+    public ProtobufDifferentialDriveWheelVoltages create() {
+      return ProtobufDifferentialDriveWheelVoltages.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName left = FieldName.forField("left");
+
+    static final FieldName right = FieldName.forField("right");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufElevatorFeedforward.java

@@ -0,0 +1,590 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufElevatorFeedforward}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufElevatorFeedforward extends ProtoMessage<ProtobufElevatorFeedforward> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double ks = 1;</code>
+   */
+  private double ks;
+
+  /**
+   * <code>optional double kg = 2;</code>
+   */
+  private double kg;
+
+  /**
+   * <code>optional double kv = 3;</code>
+   */
+  private double kv;
+
+  /**
+   * <code>optional double ka = 4;</code>
+   */
+  private double ka;
+
+  /**
+   * <code>optional double dt = 5;</code>
+   */
+  private double dt;
+
+  private ProtobufElevatorFeedforward() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufElevatorFeedforward}
+   */
+  public static ProtobufElevatorFeedforward newInstance() {
+    return new ProtobufElevatorFeedforward();
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @return whether the ks field is set
+   */
+  public boolean hasKs() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @return this
+   */
+  public ProtobufElevatorFeedforward clearKs() {
+    bitField0_ &= ~0x00000001;
+    ks = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @return the ks
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @param value the ks to set
+   * @return this
+   */
+  public ProtobufElevatorFeedforward setKs(final double value) {
+    bitField0_ |= 0x00000001;
+    ks = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double kg = 2;</code>
+   * @return whether the kg field is set
+   */
+  public boolean hasKg() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double kg = 2;</code>
+   * @return this
+   */
+  public ProtobufElevatorFeedforward clearKg() {
+    bitField0_ &= ~0x00000002;
+    kg = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double kg = 2;</code>
+   * @return the kg
+   */
+  public double getKg() {
+    return kg;
+  }
+
+  /**
+   * <code>optional double kg = 2;</code>
+   * @param value the kg to set
+   * @return this
+   */
+  public ProtobufElevatorFeedforward setKg(final double value) {
+    bitField0_ |= 0x00000002;
+    kg = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double kv = 3;</code>
+   * @return whether the kv field is set
+   */
+  public boolean hasKv() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double kv = 3;</code>
+   * @return this
+   */
+  public ProtobufElevatorFeedforward clearKv() {
+    bitField0_ &= ~0x00000004;
+    kv = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double kv = 3;</code>
+   * @return the kv
+   */
+  public double getKv() {
+    return kv;
+  }
+
+  /**
+   * <code>optional double kv = 3;</code>
+   * @param value the kv to set
+   * @return this
+   */
+  public ProtobufElevatorFeedforward setKv(final double value) {
+    bitField0_ |= 0x00000004;
+    kv = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka = 4;</code>
+   * @return whether the ka field is set
+   */
+  public boolean hasKa() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double ka = 4;</code>
+   * @return this
+   */
+  public ProtobufElevatorFeedforward clearKa() {
+    bitField0_ &= ~0x00000008;
+    ka = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka = 4;</code>
+   * @return the ka
+   */
+  public double getKa() {
+    return ka;
+  }
+
+  /**
+   * <code>optional double ka = 4;</code>
+   * @param value the ka to set
+   * @return this
+   */
+  public ProtobufElevatorFeedforward setKa(final double value) {
+    bitField0_ |= 0x00000008;
+    ka = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double dt = 5;</code>
+   * @return whether the dt field is set
+   */
+  public boolean hasDt() {
+    return (bitField0_ & 0x00000010) != 0;
+  }
+
+  /**
+   * <code>optional double dt = 5;</code>
+   * @return this
+   */
+  public ProtobufElevatorFeedforward clearDt() {
+    bitField0_ &= ~0x00000010;
+    dt = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double dt = 5;</code>
+   * @return the dt
+   */
+  public double getDt() {
+    return dt;
+  }
+
+  /**
+   * <code>optional double dt = 5;</code>
+   * @param value the dt to set
+   * @return this
+   */
+  public ProtobufElevatorFeedforward setDt(final double value) {
+    bitField0_ |= 0x00000010;
+    dt = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufElevatorFeedforward copyFrom(final ProtobufElevatorFeedforward other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      ks = other.ks;
+      kg = other.kg;
+      kv = other.kv;
+      ka = other.ka;
+      dt = other.dt;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufElevatorFeedforward mergeFrom(final ProtobufElevatorFeedforward other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasKs()) {
+      setKs(other.ks);
+    }
+    if (other.hasKg()) {
+      setKg(other.kg);
+    }
+    if (other.hasKv()) {
+      setKv(other.kv);
+    }
+    if (other.hasKa()) {
+      setKa(other.ka);
+    }
+    if (other.hasDt()) {
+      setDt(other.dt);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufElevatorFeedforward clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    ks = 0D;
+    kg = 0D;
+    kv = 0D;
+    ka = 0D;
+    dt = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufElevatorFeedforward clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufElevatorFeedforward)) {
+      return false;
+    }
+    ProtobufElevatorFeedforward other = (ProtobufElevatorFeedforward) o;
+    return bitField0_ == other.bitField0_
+      && (!hasKs() || ProtoUtil.isEqual(ks, other.ks))
+      && (!hasKg() || ProtoUtil.isEqual(kg, other.kg))
+      && (!hasKv() || ProtoUtil.isEqual(kv, other.kv))
+      && (!hasKa() || ProtoUtil.isEqual(ka, other.ka))
+      && (!hasDt() || ProtoUtil.isEqual(dt, other.dt));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(ks);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(kg);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(kv);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(ka);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeRawByte((byte) 41);
+      output.writeDoubleNoTag(dt);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufElevatorFeedforward mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // ks
+          ks = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // kg
+          kg = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // kv
+          kv = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // ka
+          ka = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 41) {
+            break;
+          }
+        }
+        case 41: {
+          // dt
+          dt = input.readDouble();
+          bitField0_ |= 0x00000010;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.ks, ks);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.kg, kg);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.kv, kv);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.ka, ka);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeDouble(FieldNames.dt, dt);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufElevatorFeedforward mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3432: {
+          if (input.isAtField(FieldNames.ks)) {
+            if (!input.trySkipNullValue()) {
+              ks = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3420: {
+          if (input.isAtField(FieldNames.kg)) {
+            if (!input.trySkipNullValue()) {
+              kg = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3435: {
+          if (input.isAtField(FieldNames.kv)) {
+            if (!input.trySkipNullValue()) {
+              kv = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3414: {
+          if (input.isAtField(FieldNames.ka)) {
+            if (!input.trySkipNullValue()) {
+              ka = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3216: {
+          if (input.isAtField(FieldNames.dt)) {
+            if (!input.trySkipNullValue()) {
+              dt = input.readDouble();
+              bitField0_ |= 0x00000010;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufElevatorFeedforward clone() {
+    return new ProtobufElevatorFeedforward().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufElevatorFeedforward parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufElevatorFeedforward(), data).checkInitialized();
+  }
+
+  public static ProtobufElevatorFeedforward parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufElevatorFeedforward(), input).checkInitialized();
+  }
+
+  public static ProtobufElevatorFeedforward parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufElevatorFeedforward(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufElevatorFeedforward messages
+   */
+  public static MessageFactory<ProtobufElevatorFeedforward> getFactory() {
+    return ProtobufElevatorFeedforwardFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufControllerDescriptor.wpi_proto_ProtobufElevatorFeedforward_descriptor;
+  }
+
+  private enum ProtobufElevatorFeedforwardFactory implements MessageFactory<ProtobufElevatorFeedforward> {
+    INSTANCE;
+
+    @Override
+    public ProtobufElevatorFeedforward create() {
+      return ProtobufElevatorFeedforward.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName ks = FieldName.forField("ks");
+
+    static final FieldName kg = FieldName.forField("kg");
+
+    static final FieldName kv = FieldName.forField("kv");
+
+    static final FieldName ka = FieldName.forField("ka");
+
+    static final FieldName dt = FieldName.forField("dt");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufEllipse2d.java

@@ -0,0 +1,451 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufEllipse2d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufEllipse2d extends ProtoMessage<ProtobufEllipse2d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double xSemiAxis = 2;</code>
+   */
+  private double xSemiAxis;
+
+  /**
+   * <code>optional double ySemiAxis = 3;</code>
+   */
+  private double ySemiAxis;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   */
+  private final ProtobufPose2d center = ProtobufPose2d.newInstance();
+
+  private ProtobufEllipse2d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufEllipse2d}
+   */
+  public static ProtobufEllipse2d newInstance() {
+    return new ProtobufEllipse2d();
+  }
+
+  /**
+   * <code>optional double xSemiAxis = 2;</code>
+   * @return whether the xSemiAxis field is set
+   */
+  public boolean hasXSemiAxis() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double xSemiAxis = 2;</code>
+   * @return this
+   */
+  public ProtobufEllipse2d clearXSemiAxis() {
+    bitField0_ &= ~0x00000001;
+    xSemiAxis = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double xSemiAxis = 2;</code>
+   * @return the xSemiAxis
+   */
+  public double getXSemiAxis() {
+    return xSemiAxis;
+  }
+
+  /**
+   * <code>optional double xSemiAxis = 2;</code>
+   * @param value the xSemiAxis to set
+   * @return this
+   */
+  public ProtobufEllipse2d setXSemiAxis(final double value) {
+    bitField0_ |= 0x00000001;
+    xSemiAxis = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double ySemiAxis = 3;</code>
+   * @return whether the ySemiAxis field is set
+   */
+  public boolean hasYSemiAxis() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double ySemiAxis = 3;</code>
+   * @return this
+   */
+  public ProtobufEllipse2d clearYSemiAxis() {
+    bitField0_ &= ~0x00000002;
+    ySemiAxis = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ySemiAxis = 3;</code>
+   * @return the ySemiAxis
+   */
+  public double getYSemiAxis() {
+    return ySemiAxis;
+  }
+
+  /**
+   * <code>optional double ySemiAxis = 3;</code>
+   * @param value the ySemiAxis to set
+   * @return this
+   */
+  public ProtobufEllipse2d setYSemiAxis(final double value) {
+    bitField0_ |= 0x00000002;
+    ySemiAxis = value;
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   * @return whether the center field is set
+   */
+  public boolean hasCenter() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   * @return this
+   */
+  public ProtobufEllipse2d clearCenter() {
+    bitField0_ &= ~0x00000004;
+    center.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableCenter()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufPose2d getCenter() {
+    return center;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufPose2d getMutableCenter() {
+    bitField0_ |= 0x00000004;
+    return center;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   * @param value the center to set
+   * @return this
+   */
+  public ProtobufEllipse2d setCenter(final ProtobufPose2d value) {
+    bitField0_ |= 0x00000004;
+    center.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufEllipse2d copyFrom(final ProtobufEllipse2d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      xSemiAxis = other.xSemiAxis;
+      ySemiAxis = other.ySemiAxis;
+      center.copyFrom(other.center);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufEllipse2d mergeFrom(final ProtobufEllipse2d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasXSemiAxis()) {
+      setXSemiAxis(other.xSemiAxis);
+    }
+    if (other.hasYSemiAxis()) {
+      setYSemiAxis(other.ySemiAxis);
+    }
+    if (other.hasCenter()) {
+      getMutableCenter().mergeFrom(other.center);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufEllipse2d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    xSemiAxis = 0D;
+    ySemiAxis = 0D;
+    center.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufEllipse2d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    center.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufEllipse2d)) {
+      return false;
+    }
+    ProtobufEllipse2d other = (ProtobufEllipse2d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasXSemiAxis() || ProtoUtil.isEqual(xSemiAxis, other.xSemiAxis))
+      && (!hasYSemiAxis() || ProtoUtil.isEqual(ySemiAxis, other.ySemiAxis))
+      && (!hasCenter() || center.equals(other.center));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(xSemiAxis);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(ySemiAxis);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 10);
+      output.writeMessageNoTag(center);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(center);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufEllipse2d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 17: {
+          // xSemiAxis
+          xSemiAxis = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // ySemiAxis
+          ySemiAxis = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 10) {
+            break;
+          }
+        }
+        case 10: {
+          // center
+          input.readMessage(center);
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.xSemiAxis, xSemiAxis);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.ySemiAxis, ySemiAxis);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeMessage(FieldNames.center, center);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufEllipse2d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -858640185: {
+          if (input.isAtField(FieldNames.xSemiAxis)) {
+            if (!input.trySkipNullValue()) {
+              xSemiAxis = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 1628872648: {
+          if (input.isAtField(FieldNames.ySemiAxis)) {
+            if (!input.trySkipNullValue()) {
+              ySemiAxis = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -1364013995: {
+          if (input.isAtField(FieldNames.center)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(center);
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufEllipse2d clone() {
+    return new ProtobufEllipse2d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufEllipse2d parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufEllipse2d(), data).checkInitialized();
+  }
+
+  public static ProtobufEllipse2d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufEllipse2d(), input).checkInitialized();
+  }
+
+  public static ProtobufEllipse2d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufEllipse2d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufEllipse2d messages
+   */
+  public static MessageFactory<ProtobufEllipse2d> getFactory() {
+    return ProtobufEllipse2dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry2dDescriptor.wpi_proto_ProtobufEllipse2d_descriptor;
+  }
+
+  private enum ProtobufEllipse2dFactory implements MessageFactory<ProtobufEllipse2d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufEllipse2d create() {
+      return ProtobufEllipse2d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName xSemiAxis = FieldName.forField("xSemiAxis");
+
+    static final FieldName ySemiAxis = FieldName.forField("ySemiAxis");
+
+    static final FieldName center = FieldName.forField("center");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufGeometry2dDescriptor.java

@@ -0,0 +1,69 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.ProtoUtil;
+import us.hebi.quickbuf.RepeatedByte;
+
+public final class ProtobufGeometry2dDescriptor {
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(1960,
+    "ChBnZW9tZXRyeTJkLnByb3RvEgl3cGkucHJvdG8iMwoVUHJvdG9idWZUcmFuc2xhdGlvbjJkEgwKAXgY" + 
+    "ASABKAFSAXgSDAoBeRgCIAEoAVIBeSIqChJQcm90b2J1ZlJvdGF0aW9uMmQSFAoFdmFsdWUYASABKAFS" + 
+    "BXZhbHVlIo8BCg5Qcm90b2J1ZlBvc2UyZBJCCgt0cmFuc2xhdGlvbhgBIAEoCzIgLndwaS5wcm90by5Q" + 
+    "cm90b2J1ZlRyYW5zbGF0aW9uMmRSC3RyYW5zbGF0aW9uEjkKCHJvdGF0aW9uGAIgASgLMh0ud3BpLnBy" + 
+    "b3RvLlByb3RvYnVmUm90YXRpb24yZFIIcm90YXRpb24ilAEKE1Byb3RvYnVmVHJhbnNmb3JtMmQSQgoL" + 
+    "dHJhbnNsYXRpb24YASABKAsyIC53cGkucHJvdG8uUHJvdG9idWZUcmFuc2xhdGlvbjJkUgt0cmFuc2xh" + 
+    "dGlvbhI5Cghyb3RhdGlvbhgCIAEoCzIdLndwaS5wcm90by5Qcm90b2J1ZlJvdGF0aW9uMmRSCHJvdGF0" + 
+    "aW9uIkkKD1Byb3RvYnVmVHdpc3QyZBIOCgJkeBgBIAEoAVICZHgSDgoCZHkYAiABKAFSAmR5EhYKBmR0" + 
+    "aGV0YRgDIAEoAVIGZHRoZXRhIngKE1Byb3RvYnVmUmVjdGFuZ2xlMmQSMQoGY2VudGVyGAEgASgLMhku" + 
+    "d3BpLnByb3RvLlByb3RvYnVmUG9zZTJkUgZjZW50ZXISFgoGeFdpZHRoGAIgASgBUgZ4V2lkdGgSFgoG" + 
+    "eVdpZHRoGAMgASgBUgZ5V2lkdGgiggEKEVByb3RvYnVmRWxsaXBzZTJkEjEKBmNlbnRlchgBIAEoCzIZ" + 
+    "LndwaS5wcm90by5Qcm90b2J1ZlBvc2UyZFIGY2VudGVyEhwKCXhTZW1pQXhpcxgCIAEoAVIJeFNlbWlB" + 
+    "eGlzEhwKCXlTZW1pQXhpcxgDIAEoAVIJeVNlbWlBeGlzQjcKFW9yZy53cGlsaWIubWF0aC5wcm90b0Ic" + 
+    "UHJvdG9idWZHZW9tZXRyeTJkRGVzY3JpcHRvclABSvMICgYSBAAALQEKCAoBDBIDAAASCggKAQISAwIA" + 
+    "EgoICgEIEgMEAC4KCQoCCAESAwQALgoICgEIEgMGAD0KCQoCCAgSAwYAPQoICgEIEgMIACIKCQoCCAoS" + 
+    "AwgAIgoKCgIEABIECgANAQoKCgMEAAESAwoIHQoLCgQEAAIAEgMLAg8KDAoFBAACAAUSAwsCCAoMCgUE" + 
+    "AAIAARIDCwkKCgwKBQQAAgADEgMLDQ4KCwoEBAACARIDDAIPCgwKBQQAAgEFEgMMAggKDAoFBAACAQES" + 
+    "AwwJCgoMCgUEAAIBAxIDDA0OCgoKAgQBEgQPABEBCgoKAwQBARIDDwgaCgsKBAQBAgASAxACEwoMCgUE" + 
+    "AQIABRIDEAIICgwKBQQBAgABEgMQCQ4KDAoFBAECAAMSAxAREgoKCgIEAhIEEwAWAQoKCgMEAgESAxMI" + 
+    "FgoLCgQEAgIAEgMUAigKDAoFBAICAAYSAxQCFwoMCgUEAgIAARIDFBgjCgwKBQQCAgADEgMUJicKCwoE",
+    "BAICARIDFQIiCgwKBQQCAgEGEgMVAhQKDAoFBAICAQESAxUVHQoMCgUEAgIBAxIDFSAhCgoKAgQDEgQY" + 
+    "ABsBCgoKAwQDARIDGAgbCgsKBAQDAgASAxkCKAoMCgUEAwIABhIDGQIXCgwKBQQDAgABEgMZGCMKDAoF" + 
+    "BAMCAAMSAxkmJwoLCgQEAwIBEgMaAiIKDAoFBAMCAQYSAxoCFAoMCgUEAwIBARIDGhUdCgwKBQQDAgED" + 
+    "EgMaICEKCgoCBAQSBB0AIQEKCgoDBAQBEgMdCBcKCwoEBAQCABIDHgIQCgwKBQQEAgAFEgMeAggKDAoF" + 
+    "BAQCAAESAx4JCwoMCgUEBAIAAxIDHg4PCgsKBAQEAgESAx8CEAoMCgUEBAIBBRIDHwIICgwKBQQEAgEB" + 
+    "EgMfCQsKDAoFBAQCAQMSAx8ODwoLCgQEBAICEgMgAhQKDAoFBAQCAgUSAyACCAoMCgUEBAICARIDIAkP" + 
+    "CgwKBQQEAgIDEgMgEhMKCgoCBAUSBCMAJwEKCgoDBAUBEgMjCBsKCwoEBAUCABIDJAIcCgwKBQQFAgAG" + 
+    "EgMkAhAKDAoFBAUCAAESAyQRFwoMCgUEBQIAAxIDJBobCgsKBAQFAgESAyUCFAoMCgUEBQIBBRIDJQII" + 
+    "CgwKBQQFAgEBEgMlCQ8KDAoFBAUCAQMSAyUSEwoLCgQEBQICEgMmAhQKDAoFBAUCAgUSAyYCCAoMCgUE" + 
+    "BQICARIDJgkPCgwKBQQFAgIDEgMmEhMKCgoCBAYSBCkALQEKCgoDBAYBEgMpCBkKCwoEBAYCABIDKgIc" + 
+    "CgwKBQQGAgAGEgMqAhAKDAoFBAYCAAESAyoRFwoMCgUEBgIAAxIDKhobCgsKBAQGAgESAysCFwoMCgUE" + 
+    "BgIBBRIDKwIICgwKBQQGAgEBEgMrCRIKDAoFBAYCAQMSAysVFgoLCgQEBgICEgMsAhcKDAoFBAYCAgUS" + 
+    "AywCCAoMCgUEBgICARIDLAkSCgwKBQQGAgIDEgMsFRZiBnByb3RvMw==");
+
+  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("geometry2d.proto", "wpi.proto", descriptorData);
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufTranslation2d_descriptor = descriptor.internalContainedType(31, 51, "ProtobufTranslation2d", "wpi.proto.ProtobufTranslation2d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufRotation2d_descriptor = descriptor.internalContainedType(84, 42, "ProtobufRotation2d", "wpi.proto.ProtobufRotation2d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufPose2d_descriptor = descriptor.internalContainedType(129, 143, "ProtobufPose2d", "wpi.proto.ProtobufPose2d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufTransform2d_descriptor = descriptor.internalContainedType(275, 148, "ProtobufTransform2d", "wpi.proto.ProtobufTransform2d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufTwist2d_descriptor = descriptor.internalContainedType(425, 73, "ProtobufTwist2d", "wpi.proto.ProtobufTwist2d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufRectangle2d_descriptor = descriptor.internalContainedType(500, 120, "ProtobufRectangle2d", "wpi.proto.ProtobufRectangle2d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufEllipse2d_descriptor = descriptor.internalContainedType(623, 130, "ProtobufEllipse2d", "wpi.proto.ProtobufEllipse2d");
+
+  /**
+   * @return this proto file's descriptor.
+   */
+  public static Descriptors.FileDescriptor getDescriptor() {
+    return descriptor;
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufGeometry3dDescriptor.java

@@ -0,0 +1,67 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.ProtoUtil;
+import us.hebi.quickbuf.RepeatedByte;
+
+public final class ProtobufGeometry3dDescriptor {
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(1946,
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+    "FwoMCgUEBAIAARIDIRgjCgwKBQQEAgADEgMhJicKCwoEBAQCARIDIgIiCgwKBQQEAgEGEgMiAhQKDAoF" + 
+    "BAQCAQESAyIVHQoMCgUEBAIBAxIDIiAhCgoKAgQFEgQlACwBCgoKAwQFARIDJQgXCgsKBAQFAgASAyYC" + 
+    "EAoMCgUEBQIABRIDJgIICgwKBQQFAgABEgMmCQsKDAoFBAUCAAMSAyYODwoLCgQEBQIBEgMnAhAKDAoF" + 
+    "BAUCAQUSAycCCAoMCgUEBQIBARIDJwkLCgwKBQQFAgEDEgMnDg8KCwoEBAUCAhIDKAIQCgwKBQQFAgIF" + 
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+    "AysJCwoMCgUEBQIFAxIDKw4PYgZwcm90bzM=");
+
+  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("geometry3d.proto", "wpi.proto", descriptorData);
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufTranslation3d_descriptor = descriptor.internalContainedType(31, 65, "ProtobufTranslation3d", "wpi.proto.ProtobufTranslation3d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufQuaternion_descriptor = descriptor.internalContainedType(98, 76, "ProtobufQuaternion", "wpi.proto.ProtobufQuaternion");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufRotation3d_descriptor = descriptor.internalContainedType(176, 65, "ProtobufRotation3d", "wpi.proto.ProtobufRotation3d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufPose3d_descriptor = descriptor.internalContainedType(244, 143, "ProtobufPose3d", "wpi.proto.ProtobufPose3d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufTransform3d_descriptor = descriptor.internalContainedType(390, 148, "ProtobufTransform3d", "wpi.proto.ProtobufTransform3d");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufTwist3d_descriptor = descriptor.internalContainedType(540, 113, "ProtobufTwist3d", "wpi.proto.ProtobufTwist3d");
+
+  /**
+   * @return this proto file's descriptor.
+   */
+  public static Descriptors.FileDescriptor getDescriptor() {
+    return descriptor;
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufKinematicsDescriptor.java

@@ -0,0 +1,121 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.ProtoUtil;
+import us.hebi.quickbuf.RepeatedByte;
+
+public final class ProtobufKinematicsDescriptor {
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(4259,
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+    "BA0CARIDVwIfCgwKBQQNAgEGEgNXAhQKDAoFBA0CAQESA1cVGgoMCgUEDQIBAxIDVx0eYgZwcm90bzM=");
+
+  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("kinematics.proto", "wpi.proto", descriptorData, ProtobufGeometry2dDescriptor.getDescriptor());
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufChassisSpeeds_descriptor = descriptor.internalContainedType(49, 77, "ProtobufChassisSpeeds", "wpi.proto.ProtobufChassisSpeeds");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufChassisAccelerations_descriptor = descriptor.internalContainedType(128, 84, "ProtobufChassisAccelerations", "wpi.proto.ProtobufChassisAccelerations");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveKinematics_descriptor = descriptor.internalContainedType(214, 69, "ProtobufDifferentialDriveKinematics", "wpi.proto.ProtobufDifferentialDriveKinematics");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelSpeeds_descriptor = descriptor.internalContainedType(285, 80, "ProtobufDifferentialDriveWheelSpeeds", "wpi.proto.ProtobufDifferentialDriveWheelSpeeds");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelAccelerations_descriptor = descriptor.internalContainedType(367, 87, "ProtobufDifferentialDriveWheelAccelerations", "wpi.proto.ProtobufDifferentialDriveWheelAccelerations");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelPositions_descriptor = descriptor.internalContainedType(456, 83, "ProtobufDifferentialDriveWheelPositions", "wpi.proto.ProtobufDifferentialDriveWheelPositions");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveKinematics_descriptor = descriptor.internalContainedType(542, 292, "ProtobufMecanumDriveKinematics", "wpi.proto.ProtobufMecanumDriveKinematics");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor = descriptor.internalContainedType(837, 160, "ProtobufMecanumDriveWheelPositions", "wpi.proto.ProtobufMecanumDriveWheelPositions");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor = descriptor.internalContainedType(1000, 157, "ProtobufMecanumDriveWheelSpeeds", "wpi.proto.ProtobufMecanumDriveWheelSpeeds");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelAccelerations_descriptor = descriptor.internalContainedType(1160, 164, "ProtobufMecanumDriveWheelAccelerations", "wpi.proto.ProtobufMecanumDriveWheelAccelerations");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveDriveKinematics_descriptor = descriptor.internalContainedType(1326, 91, "ProtobufSwerveDriveKinematics", "wpi.proto.ProtobufSwerveDriveKinematics");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModulePosition_descriptor = descriptor.internalContainedType(1419, 111, "ProtobufSwerveModulePosition", "wpi.proto.ProtobufSwerveModulePosition");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleState_descriptor = descriptor.internalContainedType(1532, 102, "ProtobufSwerveModuleState", "wpi.proto.ProtobufSwerveModuleState");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleAcceleration_descriptor = descriptor.internalContainedType(1636, 123, "ProtobufSwerveModuleAcceleration", "wpi.proto.ProtobufSwerveModuleAcceleration");
+
+  /**
+   * @return this proto file's descriptor.
+   */
+  public static Descriptors.FileDescriptor getDescriptor() {
+    return descriptor;
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufLinearSystem.java

@@ -0,0 +1,836 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+
+/**
+ * Protobuf type {@code ProtobufLinearSystem}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufLinearSystem extends ProtoMessage<ProtobufLinearSystem> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional uint32 num_states = 1;</code>
+   */
+  private int numStates;
+
+  /**
+   * <code>optional uint32 num_inputs = 2;</code>
+   */
+  private int numInputs;
+
+  /**
+   * <code>optional uint32 num_outputs = 3;</code>
+   */
+  private int numOutputs;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix a = 4;</code>
+   */
+  private final ProtobufMatrix a = ProtobufMatrix.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix b = 5;</code>
+   */
+  private final ProtobufMatrix b = ProtobufMatrix.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix c = 6;</code>
+   */
+  private final ProtobufMatrix c = ProtobufMatrix.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix d = 7;</code>
+   */
+  private final ProtobufMatrix d = ProtobufMatrix.newInstance();
+
+  private ProtobufLinearSystem() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufLinearSystem}
+   */
+  public static ProtobufLinearSystem newInstance() {
+    return new ProtobufLinearSystem();
+  }
+
+  /**
+   * <code>optional uint32 num_states = 1;</code>
+   * @return whether the numStates field is set
+   */
+  public boolean hasNumStates() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional uint32 num_states = 1;</code>
+   * @return this
+   */
+  public ProtobufLinearSystem clearNumStates() {
+    bitField0_ &= ~0x00000001;
+    numStates = 0;
+    return this;
+  }
+
+  /**
+   * <code>optional uint32 num_states = 1;</code>
+   * @return the numStates
+   */
+  public int getNumStates() {
+    return numStates;
+  }
+
+  /**
+   * <code>optional uint32 num_states = 1;</code>
+   * @param value the numStates to set
+   * @return this
+   */
+  public ProtobufLinearSystem setNumStates(final int value) {
+    bitField0_ |= 0x00000001;
+    numStates = value;
+    return this;
+  }
+
+  /**
+   * <code>optional uint32 num_inputs = 2;</code>
+   * @return whether the numInputs field is set
+   */
+  public boolean hasNumInputs() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional uint32 num_inputs = 2;</code>
+   * @return this
+   */
+  public ProtobufLinearSystem clearNumInputs() {
+    bitField0_ &= ~0x00000002;
+    numInputs = 0;
+    return this;
+  }
+
+  /**
+   * <code>optional uint32 num_inputs = 2;</code>
+   * @return the numInputs
+   */
+  public int getNumInputs() {
+    return numInputs;
+  }
+
+  /**
+   * <code>optional uint32 num_inputs = 2;</code>
+   * @param value the numInputs to set
+   * @return this
+   */
+  public ProtobufLinearSystem setNumInputs(final int value) {
+    bitField0_ |= 0x00000002;
+    numInputs = value;
+    return this;
+  }
+
+  /**
+   * <code>optional uint32 num_outputs = 3;</code>
+   * @return whether the numOutputs field is set
+   */
+  public boolean hasNumOutputs() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional uint32 num_outputs = 3;</code>
+   * @return this
+   */
+  public ProtobufLinearSystem clearNumOutputs() {
+    bitField0_ &= ~0x00000004;
+    numOutputs = 0;
+    return this;
+  }
+
+  /**
+   * <code>optional uint32 num_outputs = 3;</code>
+   * @return the numOutputs
+   */
+  public int getNumOutputs() {
+    return numOutputs;
+  }
+
+  /**
+   * <code>optional uint32 num_outputs = 3;</code>
+   * @param value the numOutputs to set
+   * @return this
+   */
+  public ProtobufLinearSystem setNumOutputs(final int value) {
+    bitField0_ |= 0x00000004;
+    numOutputs = value;
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix a = 4;</code>
+   * @return whether the a field is set
+   */
+  public boolean hasA() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix a = 4;</code>
+   * @return this
+   */
+  public ProtobufLinearSystem clearA() {
+    bitField0_ &= ~0x00000008;
+    a.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix a = 4;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableA()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufMatrix getA() {
+    return a;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix a = 4;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufMatrix getMutableA() {
+    bitField0_ |= 0x00000008;
+    return a;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix a = 4;</code>
+   * @param value the a to set
+   * @return this
+   */
+  public ProtobufLinearSystem setA(final ProtobufMatrix value) {
+    bitField0_ |= 0x00000008;
+    a.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix b = 5;</code>
+   * @return whether the b field is set
+   */
+  public boolean hasB() {
+    return (bitField0_ & 0x00000010) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix b = 5;</code>
+   * @return this
+   */
+  public ProtobufLinearSystem clearB() {
+    bitField0_ &= ~0x00000010;
+    b.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix b = 5;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableB()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufMatrix getB() {
+    return b;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix b = 5;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufMatrix getMutableB() {
+    bitField0_ |= 0x00000010;
+    return b;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix b = 5;</code>
+   * @param value the b to set
+   * @return this
+   */
+  public ProtobufLinearSystem setB(final ProtobufMatrix value) {
+    bitField0_ |= 0x00000010;
+    b.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix c = 6;</code>
+   * @return whether the c field is set
+   */
+  public boolean hasC() {
+    return (bitField0_ & 0x00000020) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix c = 6;</code>
+   * @return this
+   */
+  public ProtobufLinearSystem clearC() {
+    bitField0_ &= ~0x00000020;
+    c.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix c = 6;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableC()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufMatrix getC() {
+    return c;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix c = 6;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufMatrix getMutableC() {
+    bitField0_ |= 0x00000020;
+    return c;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix c = 6;</code>
+   * @param value the c to set
+   * @return this
+   */
+  public ProtobufLinearSystem setC(final ProtobufMatrix value) {
+    bitField0_ |= 0x00000020;
+    c.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix d = 7;</code>
+   * @return whether the d field is set
+   */
+  public boolean hasD() {
+    return (bitField0_ & 0x00000040) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix d = 7;</code>
+   * @return this
+   */
+  public ProtobufLinearSystem clearD() {
+    bitField0_ &= ~0x00000040;
+    d.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix d = 7;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableD()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufMatrix getD() {
+    return d;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix d = 7;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufMatrix getMutableD() {
+    bitField0_ |= 0x00000040;
+    return d;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufMatrix d = 7;</code>
+   * @param value the d to set
+   * @return this
+   */
+  public ProtobufLinearSystem setD(final ProtobufMatrix value) {
+    bitField0_ |= 0x00000040;
+    d.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufLinearSystem copyFrom(final ProtobufLinearSystem other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      numStates = other.numStates;
+      numInputs = other.numInputs;
+      numOutputs = other.numOutputs;
+      a.copyFrom(other.a);
+      b.copyFrom(other.b);
+      c.copyFrom(other.c);
+      d.copyFrom(other.d);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufLinearSystem mergeFrom(final ProtobufLinearSystem other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasNumStates()) {
+      setNumStates(other.numStates);
+    }
+    if (other.hasNumInputs()) {
+      setNumInputs(other.numInputs);
+    }
+    if (other.hasNumOutputs()) {
+      setNumOutputs(other.numOutputs);
+    }
+    if (other.hasA()) {
+      getMutableA().mergeFrom(other.a);
+    }
+    if (other.hasB()) {
+      getMutableB().mergeFrom(other.b);
+    }
+    if (other.hasC()) {
+      getMutableC().mergeFrom(other.c);
+    }
+    if (other.hasD()) {
+      getMutableD().mergeFrom(other.d);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufLinearSystem clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    numStates = 0;
+    numInputs = 0;
+    numOutputs = 0;
+    a.clear();
+    b.clear();
+    c.clear();
+    d.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufLinearSystem clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    a.clearQuick();
+    b.clearQuick();
+    c.clearQuick();
+    d.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufLinearSystem)) {
+      return false;
+    }
+    ProtobufLinearSystem other = (ProtobufLinearSystem) o;
+    return bitField0_ == other.bitField0_
+      && (!hasNumStates() || numStates == other.numStates)
+      && (!hasNumInputs() || numInputs == other.numInputs)
+      && (!hasNumOutputs() || numOutputs == other.numOutputs)
+      && (!hasA() || a.equals(other.a))
+      && (!hasB() || b.equals(other.b))
+      && (!hasC() || c.equals(other.c))
+      && (!hasD() || d.equals(other.d));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 8);
+      output.writeUInt32NoTag(numStates);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 16);
+      output.writeUInt32NoTag(numInputs);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 24);
+      output.writeUInt32NoTag(numOutputs);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 34);
+      output.writeMessageNoTag(a);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeRawByte((byte) 42);
+      output.writeMessageNoTag(b);
+    }
+    if ((bitField0_ & 0x00000020) != 0) {
+      output.writeRawByte((byte) 50);
+      output.writeMessageNoTag(c);
+    }
+    if ((bitField0_ & 0x00000040) != 0) {
+      output.writeRawByte((byte) 58);
+      output.writeMessageNoTag(d);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 1 + ProtoSink.computeUInt32SizeNoTag(numStates);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeUInt32SizeNoTag(numInputs);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 1 + ProtoSink.computeUInt32SizeNoTag(numOutputs);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(a);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(b);
+    }
+    if ((bitField0_ & 0x00000020) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(c);
+    }
+    if ((bitField0_ & 0x00000040) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(d);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufLinearSystem mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 8: {
+          // numStates
+          numStates = input.readUInt32();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 16) {
+            break;
+          }
+        }
+        case 16: {
+          // numInputs
+          numInputs = input.readUInt32();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 24) {
+            break;
+          }
+        }
+        case 24: {
+          // numOutputs
+          numOutputs = input.readUInt32();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 34) {
+            break;
+          }
+        }
+        case 34: {
+          // a
+          input.readMessage(a);
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 42) {
+            break;
+          }
+        }
+        case 42: {
+          // b
+          input.readMessage(b);
+          bitField0_ |= 0x00000010;
+          tag = input.readTag();
+          if (tag != 50) {
+            break;
+          }
+        }
+        case 50: {
+          // c
+          input.readMessage(c);
+          bitField0_ |= 0x00000020;
+          tag = input.readTag();
+          if (tag != 58) {
+            break;
+          }
+        }
+        case 58: {
+          // d
+          input.readMessage(d);
+          bitField0_ |= 0x00000040;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeUInt32(FieldNames.numStates, numStates);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeUInt32(FieldNames.numInputs, numInputs);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeUInt32(FieldNames.numOutputs, numOutputs);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeMessage(FieldNames.a, a);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeMessage(FieldNames.b, b);
+    }
+    if ((bitField0_ & 0x00000020) != 0) {
+      output.writeMessage(FieldNames.c, c);
+    }
+    if ((bitField0_ & 0x00000040) != 0) {
+      output.writeMessage(FieldNames.d, d);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufLinearSystem mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 1233856808:
+        case 1643330779: {
+          if (input.isAtField(FieldNames.numStates)) {
+            if (!input.trySkipNullValue()) {
+              numStates = input.readUInt32();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 942472463:
+        case 1351946434: {
+          if (input.isAtField(FieldNames.numInputs)) {
+            if (!input.trySkipNullValue()) {
+              numInputs = input.readUInt32();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 385880364:
+        case 194671577: {
+          if (input.isAtField(FieldNames.numOutputs)) {
+            if (!input.trySkipNullValue()) {
+              numOutputs = input.readUInt32();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 97: {
+          if (input.isAtField(FieldNames.a)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(a);
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 98: {
+          if (input.isAtField(FieldNames.b)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(b);
+              bitField0_ |= 0x00000010;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 99: {
+          if (input.isAtField(FieldNames.c)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(c);
+              bitField0_ |= 0x00000020;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 100: {
+          if (input.isAtField(FieldNames.d)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(d);
+              bitField0_ |= 0x00000040;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufLinearSystem clone() {
+    return new ProtobufLinearSystem().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufLinearSystem parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufLinearSystem(), data).checkInitialized();
+  }
+
+  public static ProtobufLinearSystem parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufLinearSystem(), input).checkInitialized();
+  }
+
+  public static ProtobufLinearSystem parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufLinearSystem(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufLinearSystem messages
+   */
+  public static MessageFactory<ProtobufLinearSystem> getFactory() {
+    return ProtobufLinearSystemFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufSystemDescriptor.wpi_proto_ProtobufLinearSystem_descriptor;
+  }
+
+  private enum ProtobufLinearSystemFactory implements MessageFactory<ProtobufLinearSystem> {
+    INSTANCE;
+
+    @Override
+    public ProtobufLinearSystem create() {
+      return ProtobufLinearSystem.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName numStates = FieldName.forField("numStates", "num_states");
+
+    static final FieldName numInputs = FieldName.forField("numInputs", "num_inputs");
+
+    static final FieldName numOutputs = FieldName.forField("numOutputs", "num_outputs");
+
+    static final FieldName a = FieldName.forField("a");
+
+    static final FieldName b = FieldName.forField("b");
+
+    static final FieldName c = FieldName.forField("c");
+
+    static final FieldName d = FieldName.forField("d");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufMatrix.java

@@ -0,0 +1,471 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.RepeatedDouble;
+
+/**
+ * Protobuf type {@code ProtobufMatrix}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufMatrix extends ProtoMessage<ProtobufMatrix> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional uint32 num_rows = 1;</code>
+   */
+  private int numRows;
+
+  /**
+   * <code>optional uint32 num_cols = 2;</code>
+   */
+  private int numCols;
+
+  /**
+   * <code>repeated double data = 3;</code>
+   */
+  private final RepeatedDouble data = RepeatedDouble.newEmptyInstance();
+
+  private ProtobufMatrix() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufMatrix}
+   */
+  public static ProtobufMatrix newInstance() {
+    return new ProtobufMatrix();
+  }
+
+  /**
+   * <code>optional uint32 num_rows = 1;</code>
+   * @return whether the numRows field is set
+   */
+  public boolean hasNumRows() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional uint32 num_rows = 1;</code>
+   * @return this
+   */
+  public ProtobufMatrix clearNumRows() {
+    bitField0_ &= ~0x00000001;
+    numRows = 0;
+    return this;
+  }
+
+  /**
+   * <code>optional uint32 num_rows = 1;</code>
+   * @return the numRows
+   */
+  public int getNumRows() {
+    return numRows;
+  }
+
+  /**
+   * <code>optional uint32 num_rows = 1;</code>
+   * @param value the numRows to set
+   * @return this
+   */
+  public ProtobufMatrix setNumRows(final int value) {
+    bitField0_ |= 0x00000001;
+    numRows = value;
+    return this;
+  }
+
+  /**
+   * <code>optional uint32 num_cols = 2;</code>
+   * @return whether the numCols field is set
+   */
+  public boolean hasNumCols() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional uint32 num_cols = 2;</code>
+   * @return this
+   */
+  public ProtobufMatrix clearNumCols() {
+    bitField0_ &= ~0x00000002;
+    numCols = 0;
+    return this;
+  }
+
+  /**
+   * <code>optional uint32 num_cols = 2;</code>
+   * @return the numCols
+   */
+  public int getNumCols() {
+    return numCols;
+  }
+
+  /**
+   * <code>optional uint32 num_cols = 2;</code>
+   * @param value the numCols to set
+   * @return this
+   */
+  public ProtobufMatrix setNumCols(final int value) {
+    bitField0_ |= 0x00000002;
+    numCols = value;
+    return this;
+  }
+
+  /**
+   * <code>repeated double data = 3;</code>
+   * @return whether the data field is set
+   */
+  public boolean hasData() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>repeated double data = 3;</code>
+   * @return this
+   */
+  public ProtobufMatrix clearData() {
+    bitField0_ &= ~0x00000004;
+    data.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double data = 3;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableData()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getData() {
+    return data;
+  }
+
+  /**
+   * <code>repeated double data = 3;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableData() {
+    bitField0_ |= 0x00000004;
+    return data;
+  }
+
+  /**
+   * <code>repeated double data = 3;</code>
+   * @param value the data to add
+   * @return this
+   */
+  public ProtobufMatrix addData(final double value) {
+    bitField0_ |= 0x00000004;
+    data.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double data = 3;</code>
+   * @param values the data to add
+   * @return this
+   */
+  public ProtobufMatrix addAllData(final double... values) {
+    bitField0_ |= 0x00000004;
+    data.addAll(values);
+    return this;
+  }
+
+  @Override
+  public ProtobufMatrix copyFrom(final ProtobufMatrix other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      numRows = other.numRows;
+      numCols = other.numCols;
+      data.copyFrom(other.data);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMatrix mergeFrom(final ProtobufMatrix other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasNumRows()) {
+      setNumRows(other.numRows);
+    }
+    if (other.hasNumCols()) {
+      setNumCols(other.numCols);
+    }
+    if (other.hasData()) {
+      getMutableData().addAll(other.data);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMatrix clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    numRows = 0;
+    numCols = 0;
+    data.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufMatrix clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    data.clear();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufMatrix)) {
+      return false;
+    }
+    ProtobufMatrix other = (ProtobufMatrix) o;
+    return bitField0_ == other.bitField0_
+      && (!hasNumRows() || numRows == other.numRows)
+      && (!hasNumCols() || numCols == other.numCols)
+      && (!hasData() || data.equals(other.data));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 8);
+      output.writeUInt32NoTag(numRows);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 16);
+      output.writeUInt32NoTag(numCols);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      for (int i = 0; i < data.length(); i++) {
+        output.writeRawByte((byte) 25);
+        output.writeDoubleNoTag(data.array()[i]);
+      }
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 1 + ProtoSink.computeUInt32SizeNoTag(numRows);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeUInt32SizeNoTag(numCols);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += (1 + 8) * data.length();
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufMatrix mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 8: {
+          // numRows
+          numRows = input.readUInt32();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 16) {
+            break;
+          }
+        }
+        case 16: {
+          // numCols
+          numCols = input.readUInt32();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 26) {
+            break;
+          }
+        }
+        case 26: {
+          // data [packed=true]
+          input.readPackedDouble(data);
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+        case 25: {
+          // data [packed=false]
+          tag = input.readRepeatedDouble(data, tag);
+          bitField0_ |= 0x00000004;
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeUInt32(FieldNames.numRows, numRows);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeUInt32(FieldNames.numCols, numCols);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRepeatedDouble(FieldNames.data, data);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufMatrix mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -2000982401:
+        case -1888824590: {
+          if (input.isAtField(FieldNames.numRows)) {
+            if (!input.trySkipNullValue()) {
+              numRows = input.readUInt32();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -2001429607:
+        case -1889271796: {
+          if (input.isAtField(FieldNames.numCols)) {
+            if (!input.trySkipNullValue()) {
+              numCols = input.readUInt32();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3076010: {
+          if (input.isAtField(FieldNames.data)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(data);
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufMatrix clone() {
+    return new ProtobufMatrix().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufMatrix parseFrom(final byte[] data) throws InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufMatrix(), data).checkInitialized();
+  }
+
+  public static ProtobufMatrix parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMatrix(), input).checkInitialized();
+  }
+
+  public static ProtobufMatrix parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMatrix(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufMatrix messages
+   */
+  public static MessageFactory<ProtobufMatrix> getFactory() {
+    return ProtobufMatrixFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufWPIMathDescriptor.wpi_proto_ProtobufMatrix_descriptor;
+  }
+
+  private enum ProtobufMatrixFactory implements MessageFactory<ProtobufMatrix> {
+    INSTANCE;
+
+    @Override
+    public ProtobufMatrix create() {
+      return ProtobufMatrix.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName numRows = FieldName.forField("numRows", "num_rows");
+
+    static final FieldName numCols = FieldName.forField("numCols", "num_cols");
+
+    static final FieldName data = FieldName.forField("data");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufMecanumDriveKinematics.java

@@ -0,0 +1,599 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+
+/**
+ * Protobuf type {@code ProtobufMecanumDriveKinematics}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufMecanumDriveKinematics extends ProtoMessage<ProtobufMecanumDriveKinematics> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_left = 1;</code>
+   */
+  private final ProtobufTranslation2d frontLeft = ProtobufTranslation2d.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_right = 2;</code>
+   */
+  private final ProtobufTranslation2d frontRight = ProtobufTranslation2d.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_left = 3;</code>
+   */
+  private final ProtobufTranslation2d rearLeft = ProtobufTranslation2d.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_right = 4;</code>
+   */
+  private final ProtobufTranslation2d rearRight = ProtobufTranslation2d.newInstance();
+
+  private ProtobufMecanumDriveKinematics() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufMecanumDriveKinematics}
+   */
+  public static ProtobufMecanumDriveKinematics newInstance() {
+    return new ProtobufMecanumDriveKinematics();
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_left = 1;</code>
+   * @return whether the frontLeft field is set
+   */
+  public boolean hasFrontLeft() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_left = 1;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveKinematics clearFrontLeft() {
+    bitField0_ &= ~0x00000001;
+    frontLeft.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_left = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableFrontLeft()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufTranslation2d getFrontLeft() {
+    return frontLeft;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_left = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufTranslation2d getMutableFrontLeft() {
+    bitField0_ |= 0x00000001;
+    return frontLeft;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_left = 1;</code>
+   * @param value the frontLeft to set
+   * @return this
+   */
+  public ProtobufMecanumDriveKinematics setFrontLeft(final ProtobufTranslation2d value) {
+    bitField0_ |= 0x00000001;
+    frontLeft.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_right = 2;</code>
+   * @return whether the frontRight field is set
+   */
+  public boolean hasFrontRight() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_right = 2;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveKinematics clearFrontRight() {
+    bitField0_ &= ~0x00000002;
+    frontRight.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_right = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableFrontRight()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufTranslation2d getFrontRight() {
+    return frontRight;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_right = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufTranslation2d getMutableFrontRight() {
+    bitField0_ |= 0x00000002;
+    return frontRight;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d front_right = 2;</code>
+   * @param value the frontRight to set
+   * @return this
+   */
+  public ProtobufMecanumDriveKinematics setFrontRight(final ProtobufTranslation2d value) {
+    bitField0_ |= 0x00000002;
+    frontRight.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_left = 3;</code>
+   * @return whether the rearLeft field is set
+   */
+  public boolean hasRearLeft() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_left = 3;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveKinematics clearRearLeft() {
+    bitField0_ &= ~0x00000004;
+    rearLeft.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_left = 3;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableRearLeft()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufTranslation2d getRearLeft() {
+    return rearLeft;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_left = 3;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufTranslation2d getMutableRearLeft() {
+    bitField0_ |= 0x00000004;
+    return rearLeft;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_left = 3;</code>
+   * @param value the rearLeft to set
+   * @return this
+   */
+  public ProtobufMecanumDriveKinematics setRearLeft(final ProtobufTranslation2d value) {
+    bitField0_ |= 0x00000004;
+    rearLeft.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_right = 4;</code>
+   * @return whether the rearRight field is set
+   */
+  public boolean hasRearRight() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_right = 4;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveKinematics clearRearRight() {
+    bitField0_ &= ~0x00000008;
+    rearRight.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_right = 4;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableRearRight()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufTranslation2d getRearRight() {
+    return rearRight;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_right = 4;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufTranslation2d getMutableRearRight() {
+    bitField0_ |= 0x00000008;
+    return rearRight;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d rear_right = 4;</code>
+   * @param value the rearRight to set
+   * @return this
+   */
+  public ProtobufMecanumDriveKinematics setRearRight(final ProtobufTranslation2d value) {
+    bitField0_ |= 0x00000008;
+    rearRight.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveKinematics copyFrom(final ProtobufMecanumDriveKinematics other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      frontLeft.copyFrom(other.frontLeft);
+      frontRight.copyFrom(other.frontRight);
+      rearLeft.copyFrom(other.rearLeft);
+      rearRight.copyFrom(other.rearRight);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveKinematics mergeFrom(final ProtobufMecanumDriveKinematics other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasFrontLeft()) {
+      getMutableFrontLeft().mergeFrom(other.frontLeft);
+    }
+    if (other.hasFrontRight()) {
+      getMutableFrontRight().mergeFrom(other.frontRight);
+    }
+    if (other.hasRearLeft()) {
+      getMutableRearLeft().mergeFrom(other.rearLeft);
+    }
+    if (other.hasRearRight()) {
+      getMutableRearRight().mergeFrom(other.rearRight);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveKinematics clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    frontLeft.clear();
+    frontRight.clear();
+    rearLeft.clear();
+    rearRight.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveKinematics clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    frontLeft.clearQuick();
+    frontRight.clearQuick();
+    rearLeft.clearQuick();
+    rearRight.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufMecanumDriveKinematics)) {
+      return false;
+    }
+    ProtobufMecanumDriveKinematics other = (ProtobufMecanumDriveKinematics) o;
+    return bitField0_ == other.bitField0_
+      && (!hasFrontLeft() || frontLeft.equals(other.frontLeft))
+      && (!hasFrontRight() || frontRight.equals(other.frontRight))
+      && (!hasRearLeft() || rearLeft.equals(other.rearLeft))
+      && (!hasRearRight() || rearRight.equals(other.rearRight));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 10);
+      output.writeMessageNoTag(frontLeft);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 18);
+      output.writeMessageNoTag(frontRight);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 26);
+      output.writeMessageNoTag(rearLeft);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 34);
+      output.writeMessageNoTag(rearRight);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(frontLeft);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(frontRight);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(rearLeft);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(rearRight);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufMecanumDriveKinematics mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // frontLeft
+          input.readMessage(frontLeft);
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // frontRight
+          input.readMessage(frontRight);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 26) {
+            break;
+          }
+        }
+        case 26: {
+          // rearLeft
+          input.readMessage(rearLeft);
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 34) {
+            break;
+          }
+        }
+        case 34: {
+          // rearRight
+          input.readMessage(rearRight);
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeMessage(FieldNames.frontLeft, frontLeft);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeMessage(FieldNames.frontRight, frontRight);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeMessage(FieldNames.rearLeft, rearLeft);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeMessage(FieldNames.rearRight, rearRight);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufMecanumDriveKinematics mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 127514064:
+        case -324277155: {
+          if (input.isAtField(FieldNames.frontLeft)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(frontLeft);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -336370317:
+        case -1456996218: {
+          if (input.isAtField(FieldNames.frontRight)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(frontRight);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -854852661:
+        case -712874558: {
+          if (input.isAtField(FieldNames.rearLeft)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(rearLeft);
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -724967720:
+        case -618613823: {
+          if (input.isAtField(FieldNames.rearRight)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(rearRight);
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveKinematics clone() {
+    return new ProtobufMecanumDriveKinematics().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufMecanumDriveKinematics parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveKinematics(), data).checkInitialized();
+  }
+
+  public static ProtobufMecanumDriveKinematics parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveKinematics(), input).checkInitialized();
+  }
+
+  public static ProtobufMecanumDriveKinematics parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveKinematics(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufMecanumDriveKinematics messages
+   */
+  public static MessageFactory<ProtobufMecanumDriveKinematics> getFactory() {
+    return ProtobufMecanumDriveKinematicsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufMecanumDriveKinematics_descriptor;
+  }
+
+  private enum ProtobufMecanumDriveKinematicsFactory implements MessageFactory<ProtobufMecanumDriveKinematics> {
+    INSTANCE;
+
+    @Override
+    public ProtobufMecanumDriveKinematics create() {
+      return ProtobufMecanumDriveKinematics.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName frontLeft = FieldName.forField("frontLeft", "front_left");
+
+    static final FieldName frontRight = FieldName.forField("frontRight", "front_right");
+
+    static final FieldName rearLeft = FieldName.forField("rearLeft", "rear_left");
+
+    static final FieldName rearRight = FieldName.forField("rearRight", "rear_right");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufMecanumDriveWheelAccelerations.java

@@ -0,0 +1,520 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufMecanumDriveWheelAccelerations}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufMecanumDriveWheelAccelerations extends ProtoMessage<ProtobufMecanumDriveWheelAccelerations> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   */
+  private double frontLeft;
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   */
+  private double frontRight;
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   */
+  private double rearLeft;
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   */
+  private double rearRight;
+
+  private ProtobufMecanumDriveWheelAccelerations() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufMecanumDriveWheelAccelerations}
+   */
+  public static ProtobufMecanumDriveWheelAccelerations newInstance() {
+    return new ProtobufMecanumDriveWheelAccelerations();
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @return whether the frontLeft field is set
+   */
+  public boolean hasFrontLeft() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelAccelerations clearFrontLeft() {
+    bitField0_ &= ~0x00000001;
+    frontLeft = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @return the frontLeft
+   */
+  public double getFrontLeft() {
+    return frontLeft;
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @param value the frontLeft to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelAccelerations setFrontLeft(final double value) {
+    bitField0_ |= 0x00000001;
+    frontLeft = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @return whether the frontRight field is set
+   */
+  public boolean hasFrontRight() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelAccelerations clearFrontRight() {
+    bitField0_ &= ~0x00000002;
+    frontRight = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @return the frontRight
+   */
+  public double getFrontRight() {
+    return frontRight;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @param value the frontRight to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelAccelerations setFrontRight(final double value) {
+    bitField0_ |= 0x00000002;
+    frontRight = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @return whether the rearLeft field is set
+   */
+  public boolean hasRearLeft() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelAccelerations clearRearLeft() {
+    bitField0_ &= ~0x00000004;
+    rearLeft = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @return the rearLeft
+   */
+  public double getRearLeft() {
+    return rearLeft;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @param value the rearLeft to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelAccelerations setRearLeft(final double value) {
+    bitField0_ |= 0x00000004;
+    rearLeft = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @return whether the rearRight field is set
+   */
+  public boolean hasRearRight() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelAccelerations clearRearRight() {
+    bitField0_ &= ~0x00000008;
+    rearRight = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @return the rearRight
+   */
+  public double getRearRight() {
+    return rearRight;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @param value the rearRight to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelAccelerations setRearRight(final double value) {
+    bitField0_ |= 0x00000008;
+    rearRight = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelAccelerations copyFrom(
+      final ProtobufMecanumDriveWheelAccelerations other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      frontLeft = other.frontLeft;
+      frontRight = other.frontRight;
+      rearLeft = other.rearLeft;
+      rearRight = other.rearRight;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelAccelerations mergeFrom(
+      final ProtobufMecanumDriveWheelAccelerations other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasFrontLeft()) {
+      setFrontLeft(other.frontLeft);
+    }
+    if (other.hasFrontRight()) {
+      setFrontRight(other.frontRight);
+    }
+    if (other.hasRearLeft()) {
+      setRearLeft(other.rearLeft);
+    }
+    if (other.hasRearRight()) {
+      setRearRight(other.rearRight);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelAccelerations clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    frontLeft = 0D;
+    frontRight = 0D;
+    rearLeft = 0D;
+    rearRight = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelAccelerations clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufMecanumDriveWheelAccelerations)) {
+      return false;
+    }
+    ProtobufMecanumDriveWheelAccelerations other = (ProtobufMecanumDriveWheelAccelerations) o;
+    return bitField0_ == other.bitField0_
+      && (!hasFrontLeft() || ProtoUtil.isEqual(frontLeft, other.frontLeft))
+      && (!hasFrontRight() || ProtoUtil.isEqual(frontRight, other.frontRight))
+      && (!hasRearLeft() || ProtoUtil.isEqual(rearLeft, other.rearLeft))
+      && (!hasRearRight() || ProtoUtil.isEqual(rearRight, other.rearRight));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(frontLeft);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(frontRight);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(rearLeft);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(rearRight);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufMecanumDriveWheelAccelerations mergeFrom(final ProtoSource input) throws
+      IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // frontLeft
+          frontLeft = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // frontRight
+          frontRight = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // rearLeft
+          rearLeft = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // rearRight
+          rearRight = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.frontLeft, frontLeft);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.frontRight, frontRight);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.rearLeft, rearLeft);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.rearRight, rearRight);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelAccelerations mergeFrom(final JsonSource input) throws
+      IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 127514064:
+        case -324277155: {
+          if (input.isAtField(FieldNames.frontLeft)) {
+            if (!input.trySkipNullValue()) {
+              frontLeft = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -336370317:
+        case -1456996218: {
+          if (input.isAtField(FieldNames.frontRight)) {
+            if (!input.trySkipNullValue()) {
+              frontRight = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -854852661:
+        case -712874558: {
+          if (input.isAtField(FieldNames.rearLeft)) {
+            if (!input.trySkipNullValue()) {
+              rearLeft = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -724967720:
+        case -618613823: {
+          if (input.isAtField(FieldNames.rearRight)) {
+            if (!input.trySkipNullValue()) {
+              rearRight = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelAccelerations clone() {
+    return new ProtobufMecanumDriveWheelAccelerations().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufMecanumDriveWheelAccelerations parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveWheelAccelerations(), data).checkInitialized();
+  }
+
+  public static ProtobufMecanumDriveWheelAccelerations parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveWheelAccelerations(), input).checkInitialized();
+  }
+
+  public static ProtobufMecanumDriveWheelAccelerations parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveWheelAccelerations(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufMecanumDriveWheelAccelerations messages
+   */
+  public static MessageFactory<ProtobufMecanumDriveWheelAccelerations> getFactory() {
+    return ProtobufMecanumDriveWheelAccelerationsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufMecanumDriveWheelAccelerations_descriptor;
+  }
+
+  private enum ProtobufMecanumDriveWheelAccelerationsFactory implements MessageFactory<ProtobufMecanumDriveWheelAccelerations> {
+    INSTANCE;
+
+    @Override
+    public ProtobufMecanumDriveWheelAccelerations create() {
+      return ProtobufMecanumDriveWheelAccelerations.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName frontLeft = FieldName.forField("frontLeft", "front_left");
+
+    static final FieldName frontRight = FieldName.forField("frontRight", "front_right");
+
+    static final FieldName rearLeft = FieldName.forField("rearLeft", "rear_left");
+
+    static final FieldName rearRight = FieldName.forField("rearRight", "rear_right");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufMecanumDriveWheelPositions.java

@@ -0,0 +1,518 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufMecanumDriveWheelPositions}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufMecanumDriveWheelPositions extends ProtoMessage<ProtobufMecanumDriveWheelPositions> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   */
+  private double frontLeft;
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   */
+  private double frontRight;
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   */
+  private double rearLeft;
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   */
+  private double rearRight;
+
+  private ProtobufMecanumDriveWheelPositions() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufMecanumDriveWheelPositions}
+   */
+  public static ProtobufMecanumDriveWheelPositions newInstance() {
+    return new ProtobufMecanumDriveWheelPositions();
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @return whether the frontLeft field is set
+   */
+  public boolean hasFrontLeft() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelPositions clearFrontLeft() {
+    bitField0_ &= ~0x00000001;
+    frontLeft = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @return the frontLeft
+   */
+  public double getFrontLeft() {
+    return frontLeft;
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @param value the frontLeft to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelPositions setFrontLeft(final double value) {
+    bitField0_ |= 0x00000001;
+    frontLeft = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @return whether the frontRight field is set
+   */
+  public boolean hasFrontRight() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelPositions clearFrontRight() {
+    bitField0_ &= ~0x00000002;
+    frontRight = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @return the frontRight
+   */
+  public double getFrontRight() {
+    return frontRight;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @param value the frontRight to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelPositions setFrontRight(final double value) {
+    bitField0_ |= 0x00000002;
+    frontRight = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @return whether the rearLeft field is set
+   */
+  public boolean hasRearLeft() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelPositions clearRearLeft() {
+    bitField0_ &= ~0x00000004;
+    rearLeft = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @return the rearLeft
+   */
+  public double getRearLeft() {
+    return rearLeft;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @param value the rearLeft to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelPositions setRearLeft(final double value) {
+    bitField0_ |= 0x00000004;
+    rearLeft = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @return whether the rearRight field is set
+   */
+  public boolean hasRearRight() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelPositions clearRearRight() {
+    bitField0_ &= ~0x00000008;
+    rearRight = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @return the rearRight
+   */
+  public double getRearRight() {
+    return rearRight;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @param value the rearRight to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelPositions setRearRight(final double value) {
+    bitField0_ |= 0x00000008;
+    rearRight = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelPositions copyFrom(
+      final ProtobufMecanumDriveWheelPositions other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      frontLeft = other.frontLeft;
+      frontRight = other.frontRight;
+      rearLeft = other.rearLeft;
+      rearRight = other.rearRight;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelPositions mergeFrom(
+      final ProtobufMecanumDriveWheelPositions other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasFrontLeft()) {
+      setFrontLeft(other.frontLeft);
+    }
+    if (other.hasFrontRight()) {
+      setFrontRight(other.frontRight);
+    }
+    if (other.hasRearLeft()) {
+      setRearLeft(other.rearLeft);
+    }
+    if (other.hasRearRight()) {
+      setRearRight(other.rearRight);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelPositions clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    frontLeft = 0D;
+    frontRight = 0D;
+    rearLeft = 0D;
+    rearRight = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelPositions clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufMecanumDriveWheelPositions)) {
+      return false;
+    }
+    ProtobufMecanumDriveWheelPositions other = (ProtobufMecanumDriveWheelPositions) o;
+    return bitField0_ == other.bitField0_
+      && (!hasFrontLeft() || ProtoUtil.isEqual(frontLeft, other.frontLeft))
+      && (!hasFrontRight() || ProtoUtil.isEqual(frontRight, other.frontRight))
+      && (!hasRearLeft() || ProtoUtil.isEqual(rearLeft, other.rearLeft))
+      && (!hasRearRight() || ProtoUtil.isEqual(rearRight, other.rearRight));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(frontLeft);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(frontRight);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(rearLeft);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(rearRight);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufMecanumDriveWheelPositions mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // frontLeft
+          frontLeft = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // frontRight
+          frontRight = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // rearLeft
+          rearLeft = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // rearRight
+          rearRight = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.frontLeft, frontLeft);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.frontRight, frontRight);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.rearLeft, rearLeft);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.rearRight, rearRight);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelPositions mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 127514064:
+        case -324277155: {
+          if (input.isAtField(FieldNames.frontLeft)) {
+            if (!input.trySkipNullValue()) {
+              frontLeft = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -336370317:
+        case -1456996218: {
+          if (input.isAtField(FieldNames.frontRight)) {
+            if (!input.trySkipNullValue()) {
+              frontRight = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -854852661:
+        case -712874558: {
+          if (input.isAtField(FieldNames.rearLeft)) {
+            if (!input.trySkipNullValue()) {
+              rearLeft = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -724967720:
+        case -618613823: {
+          if (input.isAtField(FieldNames.rearRight)) {
+            if (!input.trySkipNullValue()) {
+              rearRight = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelPositions clone() {
+    return new ProtobufMecanumDriveWheelPositions().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufMecanumDriveWheelPositions parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveWheelPositions(), data).checkInitialized();
+  }
+
+  public static ProtobufMecanumDriveWheelPositions parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveWheelPositions(), input).checkInitialized();
+  }
+
+  public static ProtobufMecanumDriveWheelPositions parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveWheelPositions(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufMecanumDriveWheelPositions messages
+   */
+  public static MessageFactory<ProtobufMecanumDriveWheelPositions> getFactory() {
+    return ProtobufMecanumDriveWheelPositionsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor;
+  }
+
+  private enum ProtobufMecanumDriveWheelPositionsFactory implements MessageFactory<ProtobufMecanumDriveWheelPositions> {
+    INSTANCE;
+
+    @Override
+    public ProtobufMecanumDriveWheelPositions create() {
+      return ProtobufMecanumDriveWheelPositions.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName frontLeft = FieldName.forField("frontLeft", "front_left");
+
+    static final FieldName frontRight = FieldName.forField("frontRight", "front_right");
+
+    static final FieldName rearLeft = FieldName.forField("rearLeft", "rear_left");
+
+    static final FieldName rearRight = FieldName.forField("rearRight", "rear_right");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufMecanumDriveWheelSpeeds.java

@@ -0,0 +1,516 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufMecanumDriveWheelSpeeds}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufMecanumDriveWheelSpeeds extends ProtoMessage<ProtobufMecanumDriveWheelSpeeds> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   */
+  private double frontLeft;
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   */
+  private double frontRight;
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   */
+  private double rearLeft;
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   */
+  private double rearRight;
+
+  private ProtobufMecanumDriveWheelSpeeds() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufMecanumDriveWheelSpeeds}
+   */
+  public static ProtobufMecanumDriveWheelSpeeds newInstance() {
+    return new ProtobufMecanumDriveWheelSpeeds();
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @return whether the frontLeft field is set
+   */
+  public boolean hasFrontLeft() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelSpeeds clearFrontLeft() {
+    bitField0_ &= ~0x00000001;
+    frontLeft = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @return the frontLeft
+   */
+  public double getFrontLeft() {
+    return frontLeft;
+  }
+
+  /**
+   * <code>optional double front_left = 1;</code>
+   * @param value the frontLeft to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelSpeeds setFrontLeft(final double value) {
+    bitField0_ |= 0x00000001;
+    frontLeft = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @return whether the frontRight field is set
+   */
+  public boolean hasFrontRight() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelSpeeds clearFrontRight() {
+    bitField0_ &= ~0x00000002;
+    frontRight = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @return the frontRight
+   */
+  public double getFrontRight() {
+    return frontRight;
+  }
+
+  /**
+   * <code>optional double front_right = 2;</code>
+   * @param value the frontRight to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelSpeeds setFrontRight(final double value) {
+    bitField0_ |= 0x00000002;
+    frontRight = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @return whether the rearLeft field is set
+   */
+  public boolean hasRearLeft() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelSpeeds clearRearLeft() {
+    bitField0_ &= ~0x00000004;
+    rearLeft = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @return the rearLeft
+   */
+  public double getRearLeft() {
+    return rearLeft;
+  }
+
+  /**
+   * <code>optional double rear_left = 3;</code>
+   * @param value the rearLeft to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelSpeeds setRearLeft(final double value) {
+    bitField0_ |= 0x00000004;
+    rearLeft = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @return whether the rearRight field is set
+   */
+  public boolean hasRearRight() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelSpeeds clearRearRight() {
+    bitField0_ &= ~0x00000008;
+    rearRight = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @return the rearRight
+   */
+  public double getRearRight() {
+    return rearRight;
+  }
+
+  /**
+   * <code>optional double rear_right = 4;</code>
+   * @param value the rearRight to set
+   * @return this
+   */
+  public ProtobufMecanumDriveWheelSpeeds setRearRight(final double value) {
+    bitField0_ |= 0x00000008;
+    rearRight = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelSpeeds copyFrom(final ProtobufMecanumDriveWheelSpeeds other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      frontLeft = other.frontLeft;
+      frontRight = other.frontRight;
+      rearLeft = other.rearLeft;
+      rearRight = other.rearRight;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelSpeeds mergeFrom(final ProtobufMecanumDriveWheelSpeeds other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasFrontLeft()) {
+      setFrontLeft(other.frontLeft);
+    }
+    if (other.hasFrontRight()) {
+      setFrontRight(other.frontRight);
+    }
+    if (other.hasRearLeft()) {
+      setRearLeft(other.rearLeft);
+    }
+    if (other.hasRearRight()) {
+      setRearRight(other.rearRight);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelSpeeds clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    frontLeft = 0D;
+    frontRight = 0D;
+    rearLeft = 0D;
+    rearRight = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelSpeeds clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufMecanumDriveWheelSpeeds)) {
+      return false;
+    }
+    ProtobufMecanumDriveWheelSpeeds other = (ProtobufMecanumDriveWheelSpeeds) o;
+    return bitField0_ == other.bitField0_
+      && (!hasFrontLeft() || ProtoUtil.isEqual(frontLeft, other.frontLeft))
+      && (!hasFrontRight() || ProtoUtil.isEqual(frontRight, other.frontRight))
+      && (!hasRearLeft() || ProtoUtil.isEqual(rearLeft, other.rearLeft))
+      && (!hasRearRight() || ProtoUtil.isEqual(rearRight, other.rearRight));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(frontLeft);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(frontRight);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(rearLeft);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(rearRight);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufMecanumDriveWheelSpeeds mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // frontLeft
+          frontLeft = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // frontRight
+          frontRight = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // rearLeft
+          rearLeft = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // rearRight
+          rearRight = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.frontLeft, frontLeft);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.frontRight, frontRight);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.rearLeft, rearLeft);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.rearRight, rearRight);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelSpeeds mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 127514064:
+        case -324277155: {
+          if (input.isAtField(FieldNames.frontLeft)) {
+            if (!input.trySkipNullValue()) {
+              frontLeft = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -336370317:
+        case -1456996218: {
+          if (input.isAtField(FieldNames.frontRight)) {
+            if (!input.trySkipNullValue()) {
+              frontRight = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -854852661:
+        case -712874558: {
+          if (input.isAtField(FieldNames.rearLeft)) {
+            if (!input.trySkipNullValue()) {
+              rearLeft = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -724967720:
+        case -618613823: {
+          if (input.isAtField(FieldNames.rearRight)) {
+            if (!input.trySkipNullValue()) {
+              rearRight = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufMecanumDriveWheelSpeeds clone() {
+    return new ProtobufMecanumDriveWheelSpeeds().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufMecanumDriveWheelSpeeds parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveWheelSpeeds(), data).checkInitialized();
+  }
+
+  public static ProtobufMecanumDriveWheelSpeeds parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveWheelSpeeds(), input).checkInitialized();
+  }
+
+  public static ProtobufMecanumDriveWheelSpeeds parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufMecanumDriveWheelSpeeds(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufMecanumDriveWheelSpeeds messages
+   */
+  public static MessageFactory<ProtobufMecanumDriveWheelSpeeds> getFactory() {
+    return ProtobufMecanumDriveWheelSpeedsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor;
+  }
+
+  private enum ProtobufMecanumDriveWheelSpeedsFactory implements MessageFactory<ProtobufMecanumDriveWheelSpeeds> {
+    INSTANCE;
+
+    @Override
+    public ProtobufMecanumDriveWheelSpeeds create() {
+      return ProtobufMecanumDriveWheelSpeeds.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName frontLeft = FieldName.forField("frontLeft", "front_left");
+
+    static final FieldName frontRight = FieldName.forField("frontRight", "front_right");
+
+    static final FieldName rearLeft = FieldName.forField("rearLeft", "rear_left");
+
+    static final FieldName rearRight = FieldName.forField("rearRight", "rear_right");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufPose2d.java

@@ -0,0 +1,390 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+
+/**
+ * Protobuf type {@code ProtobufPose2d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufPose2d extends ProtoMessage<ProtobufPose2d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   */
+  private final ProtobufTranslation2d translation = ProtobufTranslation2d.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   */
+  private final ProtobufRotation2d rotation = ProtobufRotation2d.newInstance();
+
+  private ProtobufPose2d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufPose2d}
+   */
+  public static ProtobufPose2d newInstance() {
+    return new ProtobufPose2d();
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   * @return whether the translation field is set
+   */
+  public boolean hasTranslation() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   * @return this
+   */
+  public ProtobufPose2d clearTranslation() {
+    bitField0_ &= ~0x00000001;
+    translation.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableTranslation()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufTranslation2d getTranslation() {
+    return translation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufTranslation2d getMutableTranslation() {
+    bitField0_ |= 0x00000001;
+    return translation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   * @param value the translation to set
+   * @return this
+   */
+  public ProtobufPose2d setTranslation(final ProtobufTranslation2d value) {
+    bitField0_ |= 0x00000001;
+    translation.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   * @return whether the rotation field is set
+   */
+  public boolean hasRotation() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   * @return this
+   */
+  public ProtobufPose2d clearRotation() {
+    bitField0_ &= ~0x00000002;
+    rotation.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableRotation()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufRotation2d getRotation() {
+    return rotation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufRotation2d getMutableRotation() {
+    bitField0_ |= 0x00000002;
+    return rotation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   * @param value the rotation to set
+   * @return this
+   */
+  public ProtobufPose2d setRotation(final ProtobufRotation2d value) {
+    bitField0_ |= 0x00000002;
+    rotation.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufPose2d copyFrom(final ProtobufPose2d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      translation.copyFrom(other.translation);
+      rotation.copyFrom(other.rotation);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufPose2d mergeFrom(final ProtobufPose2d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasTranslation()) {
+      getMutableTranslation().mergeFrom(other.translation);
+    }
+    if (other.hasRotation()) {
+      getMutableRotation().mergeFrom(other.rotation);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufPose2d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    translation.clear();
+    rotation.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufPose2d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    translation.clearQuick();
+    rotation.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufPose2d)) {
+      return false;
+    }
+    ProtobufPose2d other = (ProtobufPose2d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasTranslation() || translation.equals(other.translation))
+      && (!hasRotation() || rotation.equals(other.rotation));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 10);
+      output.writeMessageNoTag(translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 18);
+      output.writeMessageNoTag(rotation);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(rotation);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufPose2d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // translation
+          input.readMessage(translation);
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // rotation
+          input.readMessage(rotation);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeMessage(FieldNames.translation, translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeMessage(FieldNames.rotation, rotation);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufPose2d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -1840647503: {
+          if (input.isAtField(FieldNames.translation)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(translation);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -40300674: {
+          if (input.isAtField(FieldNames.rotation)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(rotation);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufPose2d clone() {
+    return new ProtobufPose2d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufPose2d parseFrom(final byte[] data) throws InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufPose2d(), data).checkInitialized();
+  }
+
+  public static ProtobufPose2d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufPose2d(), input).checkInitialized();
+  }
+
+  public static ProtobufPose2d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufPose2d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufPose2d messages
+   */
+  public static MessageFactory<ProtobufPose2d> getFactory() {
+    return ProtobufPose2dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry2dDescriptor.wpi_proto_ProtobufPose2d_descriptor;
+  }
+
+  private enum ProtobufPose2dFactory implements MessageFactory<ProtobufPose2d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufPose2d create() {
+      return ProtobufPose2d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName translation = FieldName.forField("translation");
+
+    static final FieldName rotation = FieldName.forField("rotation");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufPose3d.java

@@ -0,0 +1,390 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+
+/**
+ * Protobuf type {@code ProtobufPose3d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufPose3d extends ProtoMessage<ProtobufPose3d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   */
+  private final ProtobufTranslation3d translation = ProtobufTranslation3d.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   */
+  private final ProtobufRotation3d rotation = ProtobufRotation3d.newInstance();
+
+  private ProtobufPose3d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufPose3d}
+   */
+  public static ProtobufPose3d newInstance() {
+    return new ProtobufPose3d();
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   * @return whether the translation field is set
+   */
+  public boolean hasTranslation() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   * @return this
+   */
+  public ProtobufPose3d clearTranslation() {
+    bitField0_ &= ~0x00000001;
+    translation.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableTranslation()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufTranslation3d getTranslation() {
+    return translation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufTranslation3d getMutableTranslation() {
+    bitField0_ |= 0x00000001;
+    return translation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   * @param value the translation to set
+   * @return this
+   */
+  public ProtobufPose3d setTranslation(final ProtobufTranslation3d value) {
+    bitField0_ |= 0x00000001;
+    translation.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   * @return whether the rotation field is set
+   */
+  public boolean hasRotation() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   * @return this
+   */
+  public ProtobufPose3d clearRotation() {
+    bitField0_ &= ~0x00000002;
+    rotation.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableRotation()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufRotation3d getRotation() {
+    return rotation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufRotation3d getMutableRotation() {
+    bitField0_ |= 0x00000002;
+    return rotation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   * @param value the rotation to set
+   * @return this
+   */
+  public ProtobufPose3d setRotation(final ProtobufRotation3d value) {
+    bitField0_ |= 0x00000002;
+    rotation.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufPose3d copyFrom(final ProtobufPose3d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      translation.copyFrom(other.translation);
+      rotation.copyFrom(other.rotation);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufPose3d mergeFrom(final ProtobufPose3d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasTranslation()) {
+      getMutableTranslation().mergeFrom(other.translation);
+    }
+    if (other.hasRotation()) {
+      getMutableRotation().mergeFrom(other.rotation);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufPose3d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    translation.clear();
+    rotation.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufPose3d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    translation.clearQuick();
+    rotation.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufPose3d)) {
+      return false;
+    }
+    ProtobufPose3d other = (ProtobufPose3d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasTranslation() || translation.equals(other.translation))
+      && (!hasRotation() || rotation.equals(other.rotation));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 10);
+      output.writeMessageNoTag(translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 18);
+      output.writeMessageNoTag(rotation);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(rotation);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufPose3d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // translation
+          input.readMessage(translation);
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // rotation
+          input.readMessage(rotation);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeMessage(FieldNames.translation, translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeMessage(FieldNames.rotation, rotation);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufPose3d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -1840647503: {
+          if (input.isAtField(FieldNames.translation)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(translation);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -40300674: {
+          if (input.isAtField(FieldNames.rotation)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(rotation);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufPose3d clone() {
+    return new ProtobufPose3d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufPose3d parseFrom(final byte[] data) throws InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufPose3d(), data).checkInitialized();
+  }
+
+  public static ProtobufPose3d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufPose3d(), input).checkInitialized();
+  }
+
+  public static ProtobufPose3d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufPose3d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufPose3d messages
+   */
+  public static MessageFactory<ProtobufPose3d> getFactory() {
+    return ProtobufPose3dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry3dDescriptor.wpi_proto_ProtobufPose3d_descriptor;
+  }
+
+  private enum ProtobufPose3dFactory implements MessageFactory<ProtobufPose3d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufPose3d create() {
+      return ProtobufPose3d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName translation = FieldName.forField("translation");
+
+    static final FieldName rotation = FieldName.forField("rotation");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufQuaternion.java

@@ -0,0 +1,510 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufQuaternion}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufQuaternion extends ProtoMessage<ProtobufQuaternion> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double w = 1;</code>
+   */
+  private double w;
+
+  /**
+   * <code>optional double x = 2;</code>
+   */
+  private double x;
+
+  /**
+   * <code>optional double y = 3;</code>
+   */
+  private double y;
+
+  /**
+   * <code>optional double z = 4;</code>
+   */
+  private double z;
+
+  private ProtobufQuaternion() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufQuaternion}
+   */
+  public static ProtobufQuaternion newInstance() {
+    return new ProtobufQuaternion();
+  }
+
+  /**
+   * <code>optional double w = 1;</code>
+   * @return whether the w field is set
+   */
+  public boolean hasW() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double w = 1;</code>
+   * @return this
+   */
+  public ProtobufQuaternion clearW() {
+    bitField0_ &= ~0x00000001;
+    w = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double w = 1;</code>
+   * @return the w
+   */
+  public double getW() {
+    return w;
+  }
+
+  /**
+   * <code>optional double w = 1;</code>
+   * @param value the w to set
+   * @return this
+   */
+  public ProtobufQuaternion setW(final double value) {
+    bitField0_ |= 0x00000001;
+    w = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double x = 2;</code>
+   * @return whether the x field is set
+   */
+  public boolean hasX() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double x = 2;</code>
+   * @return this
+   */
+  public ProtobufQuaternion clearX() {
+    bitField0_ &= ~0x00000002;
+    x = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double x = 2;</code>
+   * @return the x
+   */
+  public double getX() {
+    return x;
+  }
+
+  /**
+   * <code>optional double x = 2;</code>
+   * @param value the x to set
+   * @return this
+   */
+  public ProtobufQuaternion setX(final double value) {
+    bitField0_ |= 0x00000002;
+    x = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double y = 3;</code>
+   * @return whether the y field is set
+   */
+  public boolean hasY() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double y = 3;</code>
+   * @return this
+   */
+  public ProtobufQuaternion clearY() {
+    bitField0_ &= ~0x00000004;
+    y = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double y = 3;</code>
+   * @return the y
+   */
+  public double getY() {
+    return y;
+  }
+
+  /**
+   * <code>optional double y = 3;</code>
+   * @param value the y to set
+   * @return this
+   */
+  public ProtobufQuaternion setY(final double value) {
+    bitField0_ |= 0x00000004;
+    y = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double z = 4;</code>
+   * @return whether the z field is set
+   */
+  public boolean hasZ() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double z = 4;</code>
+   * @return this
+   */
+  public ProtobufQuaternion clearZ() {
+    bitField0_ &= ~0x00000008;
+    z = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double z = 4;</code>
+   * @return the z
+   */
+  public double getZ() {
+    return z;
+  }
+
+  /**
+   * <code>optional double z = 4;</code>
+   * @param value the z to set
+   * @return this
+   */
+  public ProtobufQuaternion setZ(final double value) {
+    bitField0_ |= 0x00000008;
+    z = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufQuaternion copyFrom(final ProtobufQuaternion other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      w = other.w;
+      x = other.x;
+      y = other.y;
+      z = other.z;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufQuaternion mergeFrom(final ProtobufQuaternion other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasW()) {
+      setW(other.w);
+    }
+    if (other.hasX()) {
+      setX(other.x);
+    }
+    if (other.hasY()) {
+      setY(other.y);
+    }
+    if (other.hasZ()) {
+      setZ(other.z);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufQuaternion clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    w = 0D;
+    x = 0D;
+    y = 0D;
+    z = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufQuaternion clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufQuaternion)) {
+      return false;
+    }
+    ProtobufQuaternion other = (ProtobufQuaternion) o;
+    return bitField0_ == other.bitField0_
+      && (!hasW() || ProtoUtil.isEqual(w, other.w))
+      && (!hasX() || ProtoUtil.isEqual(x, other.x))
+      && (!hasY() || ProtoUtil.isEqual(y, other.y))
+      && (!hasZ() || ProtoUtil.isEqual(z, other.z));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(w);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(x);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(y);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(z);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufQuaternion mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // w
+          w = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // x
+          x = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // y
+          y = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // z
+          z = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.w, w);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.x, x);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.y, y);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.z, z);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufQuaternion mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 119: {
+          if (input.isAtField(FieldNames.w)) {
+            if (!input.trySkipNullValue()) {
+              w = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 120: {
+          if (input.isAtField(FieldNames.x)) {
+            if (!input.trySkipNullValue()) {
+              x = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 121: {
+          if (input.isAtField(FieldNames.y)) {
+            if (!input.trySkipNullValue()) {
+              y = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 122: {
+          if (input.isAtField(FieldNames.z)) {
+            if (!input.trySkipNullValue()) {
+              z = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufQuaternion clone() {
+    return new ProtobufQuaternion().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufQuaternion parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufQuaternion(), data).checkInitialized();
+  }
+
+  public static ProtobufQuaternion parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufQuaternion(), input).checkInitialized();
+  }
+
+  public static ProtobufQuaternion parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufQuaternion(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufQuaternion messages
+   */
+  public static MessageFactory<ProtobufQuaternion> getFactory() {
+    return ProtobufQuaternionFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry3dDescriptor.wpi_proto_ProtobufQuaternion_descriptor;
+  }
+
+  private enum ProtobufQuaternionFactory implements MessageFactory<ProtobufQuaternion> {
+    INSTANCE;
+
+    @Override
+    public ProtobufQuaternion create() {
+      return ProtobufQuaternion.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName w = FieldName.forField("w");
+
+    static final FieldName x = FieldName.forField("x");
+
+    static final FieldName y = FieldName.forField("y");
+
+    static final FieldName z = FieldName.forField("z");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufQuinticHermiteSpline.java

@@ -0,0 +1,674 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.RepeatedDouble;
+
+/**
+ * Protobuf type {@code ProtobufQuinticHermiteSpline}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufQuinticHermiteSpline extends ProtoMessage<ProtobufQuinticHermiteSpline> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   */
+  private final RepeatedDouble xInitial = RepeatedDouble.newEmptyInstance();
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   */
+  private final RepeatedDouble xFinal = RepeatedDouble.newEmptyInstance();
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   */
+  private final RepeatedDouble yInitial = RepeatedDouble.newEmptyInstance();
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   */
+  private final RepeatedDouble yFinal = RepeatedDouble.newEmptyInstance();
+
+  private ProtobufQuinticHermiteSpline() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufQuinticHermiteSpline}
+   */
+  public static ProtobufQuinticHermiteSpline newInstance() {
+    return new ProtobufQuinticHermiteSpline();
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   * @return whether the xInitial field is set
+   */
+  public boolean hasXInitial() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline clearXInitial() {
+    bitField0_ &= ~0x00000001;
+    xInitial.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableXInitial()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getXInitial() {
+    return xInitial;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableXInitial() {
+    bitField0_ |= 0x00000001;
+    return xInitial;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   * @param value the xInitial to add
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline addXInitial(final double value) {
+    bitField0_ |= 0x00000001;
+    xInitial.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_initial = 1;</code>
+   * @param values the xInitial to add
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline addAllXInitial(final double... values) {
+    bitField0_ |= 0x00000001;
+    xInitial.addAll(values);
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   * @return whether the xFinal field is set
+   */
+  public boolean hasXFinal() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline clearXFinal() {
+    bitField0_ &= ~0x00000002;
+    xFinal.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableXFinal()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getXFinal() {
+    return xFinal;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableXFinal() {
+    bitField0_ |= 0x00000002;
+    return xFinal;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   * @param value the xFinal to add
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline addXFinal(final double value) {
+    bitField0_ |= 0x00000002;
+    xFinal.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double x_final = 2;</code>
+   * @param values the xFinal to add
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline addAllXFinal(final double... values) {
+    bitField0_ |= 0x00000002;
+    xFinal.addAll(values);
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   * @return whether the yInitial field is set
+   */
+  public boolean hasYInitial() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline clearYInitial() {
+    bitField0_ &= ~0x00000004;
+    yInitial.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableYInitial()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getYInitial() {
+    return yInitial;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableYInitial() {
+    bitField0_ |= 0x00000004;
+    return yInitial;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   * @param value the yInitial to add
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline addYInitial(final double value) {
+    bitField0_ |= 0x00000004;
+    yInitial.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_initial = 3;</code>
+   * @param values the yInitial to add
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline addAllYInitial(final double... values) {
+    bitField0_ |= 0x00000004;
+    yInitial.addAll(values);
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   * @return whether the yFinal field is set
+   */
+  public boolean hasYFinal() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline clearYFinal() {
+    bitField0_ &= ~0x00000008;
+    yFinal.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableYFinal()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getYFinal() {
+    return yFinal;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableYFinal() {
+    bitField0_ |= 0x00000008;
+    return yFinal;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   * @param value the yFinal to add
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline addYFinal(final double value) {
+    bitField0_ |= 0x00000008;
+    yFinal.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double y_final = 4;</code>
+   * @param values the yFinal to add
+   * @return this
+   */
+  public ProtobufQuinticHermiteSpline addAllYFinal(final double... values) {
+    bitField0_ |= 0x00000008;
+    yFinal.addAll(values);
+    return this;
+  }
+
+  @Override
+  public ProtobufQuinticHermiteSpline copyFrom(final ProtobufQuinticHermiteSpline other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      xInitial.copyFrom(other.xInitial);
+      xFinal.copyFrom(other.xFinal);
+      yInitial.copyFrom(other.yInitial);
+      yFinal.copyFrom(other.yFinal);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufQuinticHermiteSpline mergeFrom(final ProtobufQuinticHermiteSpline other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasXInitial()) {
+      getMutableXInitial().addAll(other.xInitial);
+    }
+    if (other.hasXFinal()) {
+      getMutableXFinal().addAll(other.xFinal);
+    }
+    if (other.hasYInitial()) {
+      getMutableYInitial().addAll(other.yInitial);
+    }
+    if (other.hasYFinal()) {
+      getMutableYFinal().addAll(other.yFinal);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufQuinticHermiteSpline clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    xInitial.clear();
+    xFinal.clear();
+    yInitial.clear();
+    yFinal.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufQuinticHermiteSpline clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    xInitial.clear();
+    xFinal.clear();
+    yInitial.clear();
+    yFinal.clear();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufQuinticHermiteSpline)) {
+      return false;
+    }
+    ProtobufQuinticHermiteSpline other = (ProtobufQuinticHermiteSpline) o;
+    return bitField0_ == other.bitField0_
+      && (!hasXInitial() || xInitial.equals(other.xInitial))
+      && (!hasXFinal() || xFinal.equals(other.xFinal))
+      && (!hasYInitial() || yInitial.equals(other.yInitial))
+      && (!hasYFinal() || yFinal.equals(other.yFinal));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      for (int i = 0; i < xInitial.length(); i++) {
+        output.writeRawByte((byte) 9);
+        output.writeDoubleNoTag(xInitial.array()[i]);
+      }
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      for (int i = 0; i < xFinal.length(); i++) {
+        output.writeRawByte((byte) 17);
+        output.writeDoubleNoTag(xFinal.array()[i]);
+      }
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      for (int i = 0; i < yInitial.length(); i++) {
+        output.writeRawByte((byte) 25);
+        output.writeDoubleNoTag(yInitial.array()[i]);
+      }
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      for (int i = 0; i < yFinal.length(); i++) {
+        output.writeRawByte((byte) 33);
+        output.writeDoubleNoTag(yFinal.array()[i]);
+      }
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += (1 + 8) * xInitial.length();
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += (1 + 8) * xFinal.length();
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += (1 + 8) * yInitial.length();
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += (1 + 8) * yFinal.length();
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufQuinticHermiteSpline mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // xInitial [packed=true]
+          input.readPackedDouble(xInitial);
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // xFinal [packed=true]
+          input.readPackedDouble(xFinal);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 26) {
+            break;
+          }
+        }
+        case 26: {
+          // yInitial [packed=true]
+          input.readPackedDouble(yInitial);
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 34) {
+            break;
+          }
+        }
+        case 34: {
+          // yFinal [packed=true]
+          input.readPackedDouble(yFinal);
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+        case 9: {
+          // xInitial [packed=false]
+          tag = input.readRepeatedDouble(xInitial, tag);
+          bitField0_ |= 0x00000001;
+          break;
+        }
+        case 17: {
+          // xFinal [packed=false]
+          tag = input.readRepeatedDouble(xFinal, tag);
+          bitField0_ |= 0x00000002;
+          break;
+        }
+        case 25: {
+          // yInitial [packed=false]
+          tag = input.readRepeatedDouble(yInitial, tag);
+          bitField0_ |= 0x00000004;
+          break;
+        }
+        case 33: {
+          // yFinal [packed=false]
+          tag = input.readRepeatedDouble(yFinal, tag);
+          bitField0_ |= 0x00000008;
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRepeatedDouble(FieldNames.xInitial, xInitial);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRepeatedDouble(FieldNames.xFinal, xFinal);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRepeatedDouble(FieldNames.yInitial, yInitial);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRepeatedDouble(FieldNames.yFinal, yFinal);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufQuinticHermiteSpline mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -1998129236:
+        case -2134571395: {
+          if (input.isAtField(FieldNames.xInitial)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(xInitial);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -791585826:
+        case 1943464687: {
+          if (input.isAtField(FieldNames.xFinal)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(xFinal);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -255318901:
+        case 352941438: {
+          if (input.isAtField(FieldNames.yInitial)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(yInitial);
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -762956675:
+        case -1463998928: {
+          if (input.isAtField(FieldNames.yFinal)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(yFinal);
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufQuinticHermiteSpline clone() {
+    return new ProtobufQuinticHermiteSpline().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufQuinticHermiteSpline parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufQuinticHermiteSpline(), data).checkInitialized();
+  }
+
+  public static ProtobufQuinticHermiteSpline parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufQuinticHermiteSpline(), input).checkInitialized();
+  }
+
+  public static ProtobufQuinticHermiteSpline parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufQuinticHermiteSpline(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufQuinticHermiteSpline messages
+   */
+  public static MessageFactory<ProtobufQuinticHermiteSpline> getFactory() {
+    return ProtobufQuinticHermiteSplineFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufSplineDescriptor.wpi_proto_ProtobufQuinticHermiteSpline_descriptor;
+  }
+
+  private enum ProtobufQuinticHermiteSplineFactory implements MessageFactory<ProtobufQuinticHermiteSpline> {
+    INSTANCE;
+
+    @Override
+    public ProtobufQuinticHermiteSpline create() {
+      return ProtobufQuinticHermiteSpline.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName xInitial = FieldName.forField("xInitial", "x_initial");
+
+    static final FieldName xFinal = FieldName.forField("xFinal", "x_final");
+
+    static final FieldName yInitial = FieldName.forField("yInitial", "y_initial");
+
+    static final FieldName yFinal = FieldName.forField("yFinal", "y_final");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufRectangle2d.java

@@ -0,0 +1,451 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufRectangle2d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufRectangle2d extends ProtoMessage<ProtobufRectangle2d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double xWidth = 2;</code>
+   */
+  private double xWidth;
+
+  /**
+   * <code>optional double yWidth = 3;</code>
+   */
+  private double yWidth;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   */
+  private final ProtobufPose2d center = ProtobufPose2d.newInstance();
+
+  private ProtobufRectangle2d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufRectangle2d}
+   */
+  public static ProtobufRectangle2d newInstance() {
+    return new ProtobufRectangle2d();
+  }
+
+  /**
+   * <code>optional double xWidth = 2;</code>
+   * @return whether the xWidth field is set
+   */
+  public boolean hasXWidth() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double xWidth = 2;</code>
+   * @return this
+   */
+  public ProtobufRectangle2d clearXWidth() {
+    bitField0_ &= ~0x00000001;
+    xWidth = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double xWidth = 2;</code>
+   * @return the xWidth
+   */
+  public double getXWidth() {
+    return xWidth;
+  }
+
+  /**
+   * <code>optional double xWidth = 2;</code>
+   * @param value the xWidth to set
+   * @return this
+   */
+  public ProtobufRectangle2d setXWidth(final double value) {
+    bitField0_ |= 0x00000001;
+    xWidth = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double yWidth = 3;</code>
+   * @return whether the yWidth field is set
+   */
+  public boolean hasYWidth() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double yWidth = 3;</code>
+   * @return this
+   */
+  public ProtobufRectangle2d clearYWidth() {
+    bitField0_ &= ~0x00000002;
+    yWidth = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double yWidth = 3;</code>
+   * @return the yWidth
+   */
+  public double getYWidth() {
+    return yWidth;
+  }
+
+  /**
+   * <code>optional double yWidth = 3;</code>
+   * @param value the yWidth to set
+   * @return this
+   */
+  public ProtobufRectangle2d setYWidth(final double value) {
+    bitField0_ |= 0x00000002;
+    yWidth = value;
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   * @return whether the center field is set
+   */
+  public boolean hasCenter() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   * @return this
+   */
+  public ProtobufRectangle2d clearCenter() {
+    bitField0_ &= ~0x00000004;
+    center.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableCenter()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufPose2d getCenter() {
+    return center;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufPose2d getMutableCenter() {
+    bitField0_ |= 0x00000004;
+    return center;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d center = 1;</code>
+   * @param value the center to set
+   * @return this
+   */
+  public ProtobufRectangle2d setCenter(final ProtobufPose2d value) {
+    bitField0_ |= 0x00000004;
+    center.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufRectangle2d copyFrom(final ProtobufRectangle2d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      xWidth = other.xWidth;
+      yWidth = other.yWidth;
+      center.copyFrom(other.center);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufRectangle2d mergeFrom(final ProtobufRectangle2d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasXWidth()) {
+      setXWidth(other.xWidth);
+    }
+    if (other.hasYWidth()) {
+      setYWidth(other.yWidth);
+    }
+    if (other.hasCenter()) {
+      getMutableCenter().mergeFrom(other.center);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufRectangle2d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    xWidth = 0D;
+    yWidth = 0D;
+    center.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufRectangle2d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    center.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufRectangle2d)) {
+      return false;
+    }
+    ProtobufRectangle2d other = (ProtobufRectangle2d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasXWidth() || ProtoUtil.isEqual(xWidth, other.xWidth))
+      && (!hasYWidth() || ProtoUtil.isEqual(yWidth, other.yWidth))
+      && (!hasCenter() || center.equals(other.center));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(xWidth);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(yWidth);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 10);
+      output.writeMessageNoTag(center);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(center);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufRectangle2d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 17: {
+          // xWidth
+          xWidth = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // yWidth
+          yWidth = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 10) {
+            break;
+          }
+        }
+        case 10: {
+          // center
+          input.readMessage(center);
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.xWidth, xWidth);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.yWidth, yWidth);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeMessage(FieldNames.center, center);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufRectangle2d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -775894994: {
+          if (input.isAtField(FieldNames.xWidth)) {
+            if (!input.trySkipNullValue()) {
+              xWidth = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -747265843: {
+          if (input.isAtField(FieldNames.yWidth)) {
+            if (!input.trySkipNullValue()) {
+              yWidth = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -1364013995: {
+          if (input.isAtField(FieldNames.center)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(center);
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufRectangle2d clone() {
+    return new ProtobufRectangle2d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufRectangle2d parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufRectangle2d(), data).checkInitialized();
+  }
+
+  public static ProtobufRectangle2d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufRectangle2d(), input).checkInitialized();
+  }
+
+  public static ProtobufRectangle2d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufRectangle2d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufRectangle2d messages
+   */
+  public static MessageFactory<ProtobufRectangle2d> getFactory() {
+    return ProtobufRectangle2dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry2dDescriptor.wpi_proto_ProtobufRectangle2d_descriptor;
+  }
+
+  private enum ProtobufRectangle2dFactory implements MessageFactory<ProtobufRectangle2d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufRectangle2d create() {
+      return ProtobufRectangle2d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName xWidth = FieldName.forField("xWidth");
+
+    static final FieldName yWidth = FieldName.forField("yWidth");
+
+    static final FieldName center = FieldName.forField("center");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufRotation2d.java

@@ -0,0 +1,270 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufRotation2d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufRotation2d extends ProtoMessage<ProtobufRotation2d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double value = 1;</code>
+   */
+  private double value_;
+
+  private ProtobufRotation2d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufRotation2d}
+   */
+  public static ProtobufRotation2d newInstance() {
+    return new ProtobufRotation2d();
+  }
+
+  /**
+   * <code>optional double value = 1;</code>
+   * @return whether the value_ field is set
+   */
+  public boolean hasValue() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double value = 1;</code>
+   * @return this
+   */
+  public ProtobufRotation2d clearValue() {
+    bitField0_ &= ~0x00000001;
+    value_ = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double value = 1;</code>
+   * @return the value_
+   */
+  public double getValue() {
+    return value_;
+  }
+
+  /**
+   * <code>optional double value = 1;</code>
+   * @param value the value_ to set
+   * @return this
+   */
+  public ProtobufRotation2d setValue(final double value) {
+    bitField0_ |= 0x00000001;
+    value_ = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation2d copyFrom(final ProtobufRotation2d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      value_ = other.value_;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation2d mergeFrom(final ProtobufRotation2d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasValue()) {
+      setValue(other.value_);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation2d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    value_ = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation2d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufRotation2d)) {
+      return false;
+    }
+    ProtobufRotation2d other = (ProtobufRotation2d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasValue() || ProtoUtil.isEqual(value_, other.value_));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(value_);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufRotation2d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // value_
+          value_ = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.value_, value_);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufRotation2d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 111972721: {
+          if (input.isAtField(FieldNames.value_)) {
+            if (!input.trySkipNullValue()) {
+              value_ = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation2d clone() {
+    return new ProtobufRotation2d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufRotation2d parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufRotation2d(), data).checkInitialized();
+  }
+
+  public static ProtobufRotation2d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufRotation2d(), input).checkInitialized();
+  }
+
+  public static ProtobufRotation2d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufRotation2d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufRotation2d messages
+   */
+  public static MessageFactory<ProtobufRotation2d> getFactory() {
+    return ProtobufRotation2dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry2dDescriptor.wpi_proto_ProtobufRotation2d_descriptor;
+  }
+
+  private enum ProtobufRotation2dFactory implements MessageFactory<ProtobufRotation2d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufRotation2d create() {
+      return ProtobufRotation2d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName value_ = FieldName.forField("value");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufRotation3d.java

@@ -0,0 +1,290 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+
+/**
+ * Protobuf type {@code ProtobufRotation3d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufRotation3d extends ProtoMessage<ProtobufRotation3d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufQuaternion q = 1;</code>
+   */
+  private final ProtobufQuaternion q = ProtobufQuaternion.newInstance();
+
+  private ProtobufRotation3d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufRotation3d}
+   */
+  public static ProtobufRotation3d newInstance() {
+    return new ProtobufRotation3d();
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufQuaternion q = 1;</code>
+   * @return whether the q field is set
+   */
+  public boolean hasQ() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufQuaternion q = 1;</code>
+   * @return this
+   */
+  public ProtobufRotation3d clearQ() {
+    bitField0_ &= ~0x00000001;
+    q.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufQuaternion q = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableQ()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufQuaternion getQ() {
+    return q;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufQuaternion q = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufQuaternion getMutableQ() {
+    bitField0_ |= 0x00000001;
+    return q;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufQuaternion q = 1;</code>
+   * @param value the q to set
+   * @return this
+   */
+  public ProtobufRotation3d setQ(final ProtobufQuaternion value) {
+    bitField0_ |= 0x00000001;
+    q.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation3d copyFrom(final ProtobufRotation3d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      q.copyFrom(other.q);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation3d mergeFrom(final ProtobufRotation3d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasQ()) {
+      getMutableQ().mergeFrom(other.q);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation3d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    q.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation3d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    q.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufRotation3d)) {
+      return false;
+    }
+    ProtobufRotation3d other = (ProtobufRotation3d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasQ() || q.equals(other.q));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 10);
+      output.writeMessageNoTag(q);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(q);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufRotation3d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // q
+          input.readMessage(q);
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeMessage(FieldNames.q, q);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufRotation3d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 113: {
+          if (input.isAtField(FieldNames.q)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(q);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufRotation3d clone() {
+    return new ProtobufRotation3d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufRotation3d parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufRotation3d(), data).checkInitialized();
+  }
+
+  public static ProtobufRotation3d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufRotation3d(), input).checkInitialized();
+  }
+
+  public static ProtobufRotation3d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufRotation3d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufRotation3d messages
+   */
+  public static MessageFactory<ProtobufRotation3d> getFactory() {
+    return ProtobufRotation3dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry3dDescriptor.wpi_proto_ProtobufRotation3d_descriptor;
+  }
+
+  private enum ProtobufRotation3dFactory implements MessageFactory<ProtobufRotation3d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufRotation3d create() {
+      return ProtobufRotation3d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName q = FieldName.forField("q");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufSimpleMotorFeedforward.java

@@ -0,0 +1,512 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufSimpleMotorFeedforward}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufSimpleMotorFeedforward extends ProtoMessage<ProtobufSimpleMotorFeedforward> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double ks = 1;</code>
+   */
+  private double ks;
+
+  /**
+   * <code>optional double kv = 2;</code>
+   */
+  private double kv;
+
+  /**
+   * <code>optional double ka = 3;</code>
+   */
+  private double ka;
+
+  /**
+   * <code>optional double dt = 4;</code>
+   */
+  private double dt;
+
+  private ProtobufSimpleMotorFeedforward() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufSimpleMotorFeedforward}
+   */
+  public static ProtobufSimpleMotorFeedforward newInstance() {
+    return new ProtobufSimpleMotorFeedforward();
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @return whether the ks field is set
+   */
+  public boolean hasKs() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @return this
+   */
+  public ProtobufSimpleMotorFeedforward clearKs() {
+    bitField0_ &= ~0x00000001;
+    ks = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @return the ks
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * <code>optional double ks = 1;</code>
+   * @param value the ks to set
+   * @return this
+   */
+  public ProtobufSimpleMotorFeedforward setKs(final double value) {
+    bitField0_ |= 0x00000001;
+    ks = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double kv = 2;</code>
+   * @return whether the kv field is set
+   */
+  public boolean hasKv() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double kv = 2;</code>
+   * @return this
+   */
+  public ProtobufSimpleMotorFeedforward clearKv() {
+    bitField0_ &= ~0x00000002;
+    kv = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double kv = 2;</code>
+   * @return the kv
+   */
+  public double getKv() {
+    return kv;
+  }
+
+  /**
+   * <code>optional double kv = 2;</code>
+   * @param value the kv to set
+   * @return this
+   */
+  public ProtobufSimpleMotorFeedforward setKv(final double value) {
+    bitField0_ |= 0x00000002;
+    kv = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka = 3;</code>
+   * @return whether the ka field is set
+   */
+  public boolean hasKa() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double ka = 3;</code>
+   * @return this
+   */
+  public ProtobufSimpleMotorFeedforward clearKa() {
+    bitField0_ &= ~0x00000004;
+    ka = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ka = 3;</code>
+   * @return the ka
+   */
+  public double getKa() {
+    return ka;
+  }
+
+  /**
+   * <code>optional double ka = 3;</code>
+   * @param value the ka to set
+   * @return this
+   */
+  public ProtobufSimpleMotorFeedforward setKa(final double value) {
+    bitField0_ |= 0x00000004;
+    ka = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double dt = 4;</code>
+   * @return whether the dt field is set
+   */
+  public boolean hasDt() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double dt = 4;</code>
+   * @return this
+   */
+  public ProtobufSimpleMotorFeedforward clearDt() {
+    bitField0_ &= ~0x00000008;
+    dt = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double dt = 4;</code>
+   * @return the dt
+   */
+  public double getDt() {
+    return dt;
+  }
+
+  /**
+   * <code>optional double dt = 4;</code>
+   * @param value the dt to set
+   * @return this
+   */
+  public ProtobufSimpleMotorFeedforward setDt(final double value) {
+    bitField0_ |= 0x00000008;
+    dt = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufSimpleMotorFeedforward copyFrom(final ProtobufSimpleMotorFeedforward other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      ks = other.ks;
+      kv = other.kv;
+      ka = other.ka;
+      dt = other.dt;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSimpleMotorFeedforward mergeFrom(final ProtobufSimpleMotorFeedforward other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasKs()) {
+      setKs(other.ks);
+    }
+    if (other.hasKv()) {
+      setKv(other.kv);
+    }
+    if (other.hasKa()) {
+      setKa(other.ka);
+    }
+    if (other.hasDt()) {
+      setDt(other.dt);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSimpleMotorFeedforward clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    ks = 0D;
+    kv = 0D;
+    ka = 0D;
+    dt = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufSimpleMotorFeedforward clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufSimpleMotorFeedforward)) {
+      return false;
+    }
+    ProtobufSimpleMotorFeedforward other = (ProtobufSimpleMotorFeedforward) o;
+    return bitField0_ == other.bitField0_
+      && (!hasKs() || ProtoUtil.isEqual(ks, other.ks))
+      && (!hasKv() || ProtoUtil.isEqual(kv, other.kv))
+      && (!hasKa() || ProtoUtil.isEqual(ka, other.ka))
+      && (!hasDt() || ProtoUtil.isEqual(dt, other.dt));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(ks);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(kv);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(ka);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(dt);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufSimpleMotorFeedforward mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // ks
+          ks = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // kv
+          kv = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // ka
+          ka = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // dt
+          dt = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.ks, ks);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.kv, kv);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.ka, ka);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.dt, dt);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufSimpleMotorFeedforward mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3432: {
+          if (input.isAtField(FieldNames.ks)) {
+            if (!input.trySkipNullValue()) {
+              ks = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3435: {
+          if (input.isAtField(FieldNames.kv)) {
+            if (!input.trySkipNullValue()) {
+              kv = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3414: {
+          if (input.isAtField(FieldNames.ka)) {
+            if (!input.trySkipNullValue()) {
+              ka = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3216: {
+          if (input.isAtField(FieldNames.dt)) {
+            if (!input.trySkipNullValue()) {
+              dt = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufSimpleMotorFeedforward clone() {
+    return new ProtobufSimpleMotorFeedforward().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufSimpleMotorFeedforward parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufSimpleMotorFeedforward(), data).checkInitialized();
+  }
+
+  public static ProtobufSimpleMotorFeedforward parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSimpleMotorFeedforward(), input).checkInitialized();
+  }
+
+  public static ProtobufSimpleMotorFeedforward parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSimpleMotorFeedforward(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufSimpleMotorFeedforward messages
+   */
+  public static MessageFactory<ProtobufSimpleMotorFeedforward> getFactory() {
+    return ProtobufSimpleMotorFeedforwardFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufControllerDescriptor.wpi_proto_ProtobufSimpleMotorFeedforward_descriptor;
+  }
+
+  private enum ProtobufSimpleMotorFeedforwardFactory implements MessageFactory<ProtobufSimpleMotorFeedforward> {
+    INSTANCE;
+
+    @Override
+    public ProtobufSimpleMotorFeedforward create() {
+      return ProtobufSimpleMotorFeedforward.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName ks = FieldName.forField("ks");
+
+    static final FieldName kv = FieldName.forField("kv");
+
+    static final FieldName ka = FieldName.forField("ka");
+
+    static final FieldName dt = FieldName.forField("dt");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufSplineDescriptor.java

@@ -0,0 +1,44 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.ProtoUtil;
+import us.hebi.quickbuf.RepeatedByte;
+
+public final class ProtobufSplineDescriptor {
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(1060,
+    "CgxzcGxpbmUucHJvdG8SCXdwaS5wcm90byKIAQoaUHJvdG9idWZDdWJpY0hlcm1pdGVTcGxpbmUSGwoJ" + 
+    "eF9pbml0aWFsGAEgAygBUgh4SW5pdGlhbBIXCgd4X2ZpbmFsGAIgAygBUgZ4RmluYWwSGwoJeV9pbml0" + 
+    "aWFsGAMgAygBUgh5SW5pdGlhbBIXCgd5X2ZpbmFsGAQgAygBUgZ5RmluYWwiigEKHFByb3RvYnVmUXVp" + 
+    "bnRpY0hlcm1pdGVTcGxpbmUSGwoJeF9pbml0aWFsGAEgAygBUgh4SW5pdGlhbBIXCgd4X2ZpbmFsGAIg" + 
+    "AygBUgZ4RmluYWwSGwoJeV9pbml0aWFsGAMgAygBUgh5SW5pdGlhbBIXCgd5X2ZpbmFsGAQgAygBUgZ5" + 
+    "RmluYWxCMwoVb3JnLndwaWxpYi5tYXRoLnByb3RvQhhQcm90b2J1ZlNwbGluZURlc2NyaXB0b3JQAUqz" + 
+    "BQoGEgQAABYBCggKAQwSAwAAEgoICgECEgMCABIKCAoBCBIDBAAuCgkKAggBEgMEAC4KCAoBCBIDBgA5" + 
+    "CgkKAggIEgMGADkKCAoBCBIDCAAiCgkKAggKEgMIACIKCgoCBAASBAoADwEKCgoDBAABEgMKCCIKCwoE" + 
+    "BAACABIDCwIgCgwKBQQAAgAEEgMLAgoKDAoFBAACAAUSAwsLEQoMCgUEAAIAARIDCxIbCgwKBQQAAgAD" + 
+    "EgMLHh8KCwoEBAACARIDDAIeCgwKBQQAAgEEEgMMAgoKDAoFBAACAQUSAwwLEQoMCgUEAAIBARIDDBIZ" + 
+    "CgwKBQQAAgEDEgMMHB0KCwoEBAACAhIDDQIgCgwKBQQAAgIEEgMNAgoKDAoFBAACAgUSAw0LEQoMCgUE" + 
+    "AAICARIDDRIbCgwKBQQAAgIDEgMNHh8KCwoEBAACAxIDDgIeCgwKBQQAAgMEEgMOAgoKDAoFBAACAwUS" + 
+    "Aw4LEQoMCgUEAAIDARIDDhIZCgwKBQQAAgMDEgMOHB0KCgoCBAESBBEAFgEKCgoDBAEBEgMRCCQKCwoE" + 
+    "BAECABIDEgIgCgwKBQQBAgAEEgMSAgoKDAoFBAECAAUSAxILEQoMCgUEAQIAARIDEhIbCgwKBQQBAgAD" + 
+    "EgMSHh8KCwoEBAECARIDEwIeCgwKBQQBAgEEEgMTAgoKDAoFBAECAQUSAxMLEQoMCgUEAQIBARIDExIZ" + 
+    "CgwKBQQBAgEDEgMTHB0KCwoEBAECAhIDFAIgCgwKBQQBAgIEEgMUAgoKDAoFBAECAgUSAxQLEQoMCgUE" + 
+    "AQICARIDFBIbCgwKBQQBAgIDEgMUHh8KCwoEBAECAxIDFQIeCgwKBQQBAgMEEgMVAgoKDAoFBAECAwUS" + 
+    "AxULEQoMCgUEAQIDARIDFRIZCgwKBQQBAgMDEgMVHB1iBnByb3RvMw==");
+
+  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("spline.proto", "wpi.proto", descriptorData);
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufCubicHermiteSpline_descriptor = descriptor.internalContainedType(28, 136, "ProtobufCubicHermiteSpline", "wpi.proto.ProtobufCubicHermiteSpline");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufQuinticHermiteSpline_descriptor = descriptor.internalContainedType(167, 138, "ProtobufQuinticHermiteSpline", "wpi.proto.ProtobufQuinticHermiteSpline");
+
+  /**
+   * @return this proto file's descriptor.
+   */
+  public static Descriptors.FileDescriptor getDescriptor() {
+    return descriptor;
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufSwerveDriveKinematics.java

@@ -0,0 +1,304 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.RepeatedMessage;
+
+/**
+ * Protobuf type {@code ProtobufSwerveDriveKinematics}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufSwerveDriveKinematics extends ProtoMessage<ProtobufSwerveDriveKinematics> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTranslation2d modules = 1;</code>
+   */
+  private final RepeatedMessage<ProtobufTranslation2d> modules = RepeatedMessage.newEmptyInstance(ProtobufTranslation2d.getFactory());
+
+  private ProtobufSwerveDriveKinematics() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufSwerveDriveKinematics}
+   */
+  public static ProtobufSwerveDriveKinematics newInstance() {
+    return new ProtobufSwerveDriveKinematics();
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTranslation2d modules = 1;</code>
+   * @return whether the modules field is set
+   */
+  public boolean hasModules() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTranslation2d modules = 1;</code>
+   * @return this
+   */
+  public ProtobufSwerveDriveKinematics clearModules() {
+    bitField0_ &= ~0x00000001;
+    modules.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTranslation2d modules = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableModules()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedMessage<ProtobufTranslation2d> getModules() {
+    return modules;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTranslation2d modules = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedMessage<ProtobufTranslation2d> getMutableModules() {
+    bitField0_ |= 0x00000001;
+    return modules;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTranslation2d modules = 1;</code>
+   * @param value the modules to add
+   * @return this
+   */
+  public ProtobufSwerveDriveKinematics addModules(final ProtobufTranslation2d value) {
+    bitField0_ |= 0x00000001;
+    modules.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTranslation2d modules = 1;</code>
+   * @param values the modules to add
+   * @return this
+   */
+  public ProtobufSwerveDriveKinematics addAllModules(final ProtobufTranslation2d... values) {
+    bitField0_ |= 0x00000001;
+    modules.addAll(values);
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveDriveKinematics copyFrom(final ProtobufSwerveDriveKinematics other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      modules.copyFrom(other.modules);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveDriveKinematics mergeFrom(final ProtobufSwerveDriveKinematics other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasModules()) {
+      getMutableModules().addAll(other.modules);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveDriveKinematics clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    modules.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveDriveKinematics clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    modules.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufSwerveDriveKinematics)) {
+      return false;
+    }
+    ProtobufSwerveDriveKinematics other = (ProtobufSwerveDriveKinematics) o;
+    return bitField0_ == other.bitField0_
+      && (!hasModules() || modules.equals(other.modules));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      for (int i = 0; i < modules.length(); i++) {
+        output.writeRawByte((byte) 10);
+        output.writeMessageNoTag(modules.get(i));
+      }
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += (1 * modules.length()) + ProtoSink.computeRepeatedMessageSizeNoTag(modules);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufSwerveDriveKinematics mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // modules
+          tag = input.readRepeatedMessage(modules, tag);
+          bitField0_ |= 0x00000001;
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRepeatedMessage(FieldNames.modules, modules);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufSwerveDriveKinematics mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 1227433863: {
+          if (input.isAtField(FieldNames.modules)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedMessage(modules);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveDriveKinematics clone() {
+    return new ProtobufSwerveDriveKinematics().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufSwerveDriveKinematics parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveDriveKinematics(), data).checkInitialized();
+  }
+
+  public static ProtobufSwerveDriveKinematics parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveDriveKinematics(), input).checkInitialized();
+  }
+
+  public static ProtobufSwerveDriveKinematics parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveDriveKinematics(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufSwerveDriveKinematics messages
+   */
+  public static MessageFactory<ProtobufSwerveDriveKinematics> getFactory() {
+    return ProtobufSwerveDriveKinematicsFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufSwerveDriveKinematics_descriptor;
+  }
+
+  private enum ProtobufSwerveDriveKinematicsFactory implements MessageFactory<ProtobufSwerveDriveKinematics> {
+    INSTANCE;
+
+    @Override
+    public ProtobufSwerveDriveKinematics create() {
+      return ProtobufSwerveDriveKinematics.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName modules = FieldName.forField("modules");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufSwerveModuleAcceleration.java

@@ -0,0 +1,373 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufSwerveModuleAcceleration}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufSwerveModuleAcceleration extends ProtoMessage<ProtobufSwerveModuleAcceleration> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double acceleration = 1;</code>
+   */
+  private double acceleration;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   */
+  private final ProtobufRotation2d angle = ProtobufRotation2d.newInstance();
+
+  private ProtobufSwerveModuleAcceleration() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufSwerveModuleAcceleration}
+   */
+  public static ProtobufSwerveModuleAcceleration newInstance() {
+    return new ProtobufSwerveModuleAcceleration();
+  }
+
+  /**
+   * <code>optional double acceleration = 1;</code>
+   * @return whether the acceleration field is set
+   */
+  public boolean hasAcceleration() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double acceleration = 1;</code>
+   * @return this
+   */
+  public ProtobufSwerveModuleAcceleration clearAcceleration() {
+    bitField0_ &= ~0x00000001;
+    acceleration = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double acceleration = 1;</code>
+   * @return the acceleration
+   */
+  public double getAcceleration() {
+    return acceleration;
+  }
+
+  /**
+   * <code>optional double acceleration = 1;</code>
+   * @param value the acceleration to set
+   * @return this
+   */
+  public ProtobufSwerveModuleAcceleration setAcceleration(final double value) {
+    bitField0_ |= 0x00000001;
+    acceleration = value;
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   * @return whether the angle field is set
+   */
+  public boolean hasAngle() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   * @return this
+   */
+  public ProtobufSwerveModuleAcceleration clearAngle() {
+    bitField0_ &= ~0x00000002;
+    angle.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableAngle()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufRotation2d getAngle() {
+    return angle;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufRotation2d getMutableAngle() {
+    bitField0_ |= 0x00000002;
+    return angle;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   * @param value the angle to set
+   * @return this
+   */
+  public ProtobufSwerveModuleAcceleration setAngle(final ProtobufRotation2d value) {
+    bitField0_ |= 0x00000002;
+    angle.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleAcceleration copyFrom(final ProtobufSwerveModuleAcceleration other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      acceleration = other.acceleration;
+      angle.copyFrom(other.angle);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleAcceleration mergeFrom(final ProtobufSwerveModuleAcceleration other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasAcceleration()) {
+      setAcceleration(other.acceleration);
+    }
+    if (other.hasAngle()) {
+      getMutableAngle().mergeFrom(other.angle);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleAcceleration clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    acceleration = 0D;
+    angle.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleAcceleration clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    angle.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufSwerveModuleAcceleration)) {
+      return false;
+    }
+    ProtobufSwerveModuleAcceleration other = (ProtobufSwerveModuleAcceleration) o;
+    return bitField0_ == other.bitField0_
+      && (!hasAcceleration() || ProtoUtil.isEqual(acceleration, other.acceleration))
+      && (!hasAngle() || angle.equals(other.angle));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(acceleration);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 18);
+      output.writeMessageNoTag(angle);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(angle);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufSwerveModuleAcceleration mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // acceleration
+          acceleration = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // angle
+          input.readMessage(angle);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.acceleration, acceleration);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeMessage(FieldNames.angle, angle);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufSwerveModuleAcceleration mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -267299712: {
+          if (input.isAtField(FieldNames.acceleration)) {
+            if (!input.trySkipNullValue()) {
+              acceleration = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 92960979: {
+          if (input.isAtField(FieldNames.angle)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(angle);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleAcceleration clone() {
+    return new ProtobufSwerveModuleAcceleration().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufSwerveModuleAcceleration parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveModuleAcceleration(), data).checkInitialized();
+  }
+
+  public static ProtobufSwerveModuleAcceleration parseFrom(final ProtoSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveModuleAcceleration(), input).checkInitialized();
+  }
+
+  public static ProtobufSwerveModuleAcceleration parseFrom(final JsonSource input) throws
+      IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveModuleAcceleration(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufSwerveModuleAcceleration messages
+   */
+  public static MessageFactory<ProtobufSwerveModuleAcceleration> getFactory() {
+    return ProtobufSwerveModuleAccelerationFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufSwerveModuleAcceleration_descriptor;
+  }
+
+  private enum ProtobufSwerveModuleAccelerationFactory implements MessageFactory<ProtobufSwerveModuleAcceleration> {
+    INSTANCE;
+
+    @Override
+    public ProtobufSwerveModuleAcceleration create() {
+      return ProtobufSwerveModuleAcceleration.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName acceleration = FieldName.forField("acceleration");
+
+    static final FieldName angle = FieldName.forField("angle");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufSwerveModulePosition.java

@@ -0,0 +1,371 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufSwerveModulePosition}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufSwerveModulePosition extends ProtoMessage<ProtobufSwerveModulePosition> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double distance = 1;</code>
+   */
+  private double distance;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   */
+  private final ProtobufRotation2d angle = ProtobufRotation2d.newInstance();
+
+  private ProtobufSwerveModulePosition() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufSwerveModulePosition}
+   */
+  public static ProtobufSwerveModulePosition newInstance() {
+    return new ProtobufSwerveModulePosition();
+  }
+
+  /**
+   * <code>optional double distance = 1;</code>
+   * @return whether the distance field is set
+   */
+  public boolean hasDistance() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double distance = 1;</code>
+   * @return this
+   */
+  public ProtobufSwerveModulePosition clearDistance() {
+    bitField0_ &= ~0x00000001;
+    distance = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double distance = 1;</code>
+   * @return the distance
+   */
+  public double getDistance() {
+    return distance;
+  }
+
+  /**
+   * <code>optional double distance = 1;</code>
+   * @param value the distance to set
+   * @return this
+   */
+  public ProtobufSwerveModulePosition setDistance(final double value) {
+    bitField0_ |= 0x00000001;
+    distance = value;
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   * @return whether the angle field is set
+   */
+  public boolean hasAngle() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   * @return this
+   */
+  public ProtobufSwerveModulePosition clearAngle() {
+    bitField0_ &= ~0x00000002;
+    angle.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableAngle()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufRotation2d getAngle() {
+    return angle;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufRotation2d getMutableAngle() {
+    bitField0_ |= 0x00000002;
+    return angle;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   * @param value the angle to set
+   * @return this
+   */
+  public ProtobufSwerveModulePosition setAngle(final ProtobufRotation2d value) {
+    bitField0_ |= 0x00000002;
+    angle.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModulePosition copyFrom(final ProtobufSwerveModulePosition other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      distance = other.distance;
+      angle.copyFrom(other.angle);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModulePosition mergeFrom(final ProtobufSwerveModulePosition other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasDistance()) {
+      setDistance(other.distance);
+    }
+    if (other.hasAngle()) {
+      getMutableAngle().mergeFrom(other.angle);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModulePosition clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    distance = 0D;
+    angle.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModulePosition clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    angle.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufSwerveModulePosition)) {
+      return false;
+    }
+    ProtobufSwerveModulePosition other = (ProtobufSwerveModulePosition) o;
+    return bitField0_ == other.bitField0_
+      && (!hasDistance() || ProtoUtil.isEqual(distance, other.distance))
+      && (!hasAngle() || angle.equals(other.angle));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(distance);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 18);
+      output.writeMessageNoTag(angle);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(angle);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufSwerveModulePosition mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // distance
+          distance = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // angle
+          input.readMessage(angle);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.distance, distance);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeMessage(FieldNames.angle, angle);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufSwerveModulePosition mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 288459765: {
+          if (input.isAtField(FieldNames.distance)) {
+            if (!input.trySkipNullValue()) {
+              distance = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 92960979: {
+          if (input.isAtField(FieldNames.angle)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(angle);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModulePosition clone() {
+    return new ProtobufSwerveModulePosition().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufSwerveModulePosition parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveModulePosition(), data).checkInitialized();
+  }
+
+  public static ProtobufSwerveModulePosition parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveModulePosition(), input).checkInitialized();
+  }
+
+  public static ProtobufSwerveModulePosition parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveModulePosition(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufSwerveModulePosition messages
+   */
+  public static MessageFactory<ProtobufSwerveModulePosition> getFactory() {
+    return ProtobufSwerveModulePositionFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufSwerveModulePosition_descriptor;
+  }
+
+  private enum ProtobufSwerveModulePositionFactory implements MessageFactory<ProtobufSwerveModulePosition> {
+    INSTANCE;
+
+    @Override
+    public ProtobufSwerveModulePosition create() {
+      return ProtobufSwerveModulePosition.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName distance = FieldName.forField("distance");
+
+    static final FieldName angle = FieldName.forField("angle");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufSwerveModuleState.java

@@ -0,0 +1,371 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufSwerveModuleState}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufSwerveModuleState extends ProtoMessage<ProtobufSwerveModuleState> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double speed = 1;</code>
+   */
+  private double speed;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   */
+  private final ProtobufRotation2d angle = ProtobufRotation2d.newInstance();
+
+  private ProtobufSwerveModuleState() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufSwerveModuleState}
+   */
+  public static ProtobufSwerveModuleState newInstance() {
+    return new ProtobufSwerveModuleState();
+  }
+
+  /**
+   * <code>optional double speed = 1;</code>
+   * @return whether the speed field is set
+   */
+  public boolean hasSpeed() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double speed = 1;</code>
+   * @return this
+   */
+  public ProtobufSwerveModuleState clearSpeed() {
+    bitField0_ &= ~0x00000001;
+    speed = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double speed = 1;</code>
+   * @return the speed
+   */
+  public double getSpeed() {
+    return speed;
+  }
+
+  /**
+   * <code>optional double speed = 1;</code>
+   * @param value the speed to set
+   * @return this
+   */
+  public ProtobufSwerveModuleState setSpeed(final double value) {
+    bitField0_ |= 0x00000001;
+    speed = value;
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   * @return whether the angle field is set
+   */
+  public boolean hasAngle() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   * @return this
+   */
+  public ProtobufSwerveModuleState clearAngle() {
+    bitField0_ &= ~0x00000002;
+    angle.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableAngle()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufRotation2d getAngle() {
+    return angle;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufRotation2d getMutableAngle() {
+    bitField0_ |= 0x00000002;
+    return angle;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d angle = 2;</code>
+   * @param value the angle to set
+   * @return this
+   */
+  public ProtobufSwerveModuleState setAngle(final ProtobufRotation2d value) {
+    bitField0_ |= 0x00000002;
+    angle.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleState copyFrom(final ProtobufSwerveModuleState other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      speed = other.speed;
+      angle.copyFrom(other.angle);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleState mergeFrom(final ProtobufSwerveModuleState other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasSpeed()) {
+      setSpeed(other.speed);
+    }
+    if (other.hasAngle()) {
+      getMutableAngle().mergeFrom(other.angle);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleState clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    speed = 0D;
+    angle.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleState clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    angle.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufSwerveModuleState)) {
+      return false;
+    }
+    ProtobufSwerveModuleState other = (ProtobufSwerveModuleState) o;
+    return bitField0_ == other.bitField0_
+      && (!hasSpeed() || ProtoUtil.isEqual(speed, other.speed))
+      && (!hasAngle() || angle.equals(other.angle));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(speed);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 18);
+      output.writeMessageNoTag(angle);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(angle);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufSwerveModuleState mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // speed
+          speed = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // angle
+          input.readMessage(angle);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.speed, speed);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeMessage(FieldNames.angle, angle);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufSwerveModuleState mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 109641799: {
+          if (input.isAtField(FieldNames.speed)) {
+            if (!input.trySkipNullValue()) {
+              speed = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 92960979: {
+          if (input.isAtField(FieldNames.angle)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(angle);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufSwerveModuleState clone() {
+    return new ProtobufSwerveModuleState().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufSwerveModuleState parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveModuleState(), data).checkInitialized();
+  }
+
+  public static ProtobufSwerveModuleState parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveModuleState(), input).checkInitialized();
+  }
+
+  public static ProtobufSwerveModuleState parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufSwerveModuleState(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufSwerveModuleState messages
+   */
+  public static MessageFactory<ProtobufSwerveModuleState> getFactory() {
+    return ProtobufSwerveModuleStateFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufKinematicsDescriptor.wpi_proto_ProtobufSwerveModuleState_descriptor;
+  }
+
+  private enum ProtobufSwerveModuleStateFactory implements MessageFactory<ProtobufSwerveModuleState> {
+    INSTANCE;
+
+    @Override
+    public ProtobufSwerveModuleState create() {
+      return ProtobufSwerveModuleState.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName speed = FieldName.forField("speed");
+
+    static final FieldName angle = FieldName.forField("angle");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufSystemDescriptor.java

@@ -0,0 +1,50 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.ProtoUtil;
+import us.hebi.quickbuf.RepeatedByte;
+
+public final class ProtobufSystemDescriptor {
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(1397,
+    "CgxzeXN0ZW0ucHJvdG8SCXdwaS5wcm90bxoNd3BpbWF0aC5wcm90byLEAQoPUHJvdG9idWZEQ01vdG9y" + 
+    "EicKD25vbWluYWxfdm9sdGFnZRgBIAEoAVIObm9taW5hbFZvbHRhZ2USIQoMc3RhbGxfdG9ycXVlGAIg" + 
+    "ASgBUgtzdGFsbFRvcnF1ZRIjCg1zdGFsbF9jdXJyZW50GAMgASgBUgxzdGFsbEN1cnJlbnQSIQoMZnJl" + 
+    "ZV9jdXJyZW50GAQgASgBUgtmcmVlQ3VycmVudBIdCgpmcmVlX3NwZWVkGAUgASgBUglmcmVlU3BlZWQi" + 
+    "mQIKFFByb3RvYnVmTGluZWFyU3lzdGVtEh0KCm51bV9zdGF0ZXMYASABKA1SCW51bVN0YXRlcxIdCgpu" + 
+    "dW1faW5wdXRzGAIgASgNUgludW1JbnB1dHMSHwoLbnVtX291dHB1dHMYAyABKA1SCm51bU91dHB1dHMS" + 
+    "JwoBYRgEIAEoCzIZLndwaS5wcm90by5Qcm90b2J1Zk1hdHJpeFIBYRInCgFiGAUgASgLMhkud3BpLnBy" + 
+    "b3RvLlByb3RvYnVmTWF0cml4UgFiEicKAWMYBiABKAsyGS53cGkucHJvdG8uUHJvdG9idWZNYXRyaXhS" + 
+    "AWMSJwoBZBgHIAEoCzIZLndwaS5wcm90by5Qcm90b2J1Zk1hdHJpeFIBZEIzChVvcmcud3BpbGliLm1h" + 
+    "dGgucHJvdG9CGFByb3RvYnVmU3lzdGVtRGVzY3JpcHRvclABSqoGCgYSBAAAHAEKCAoBDBIDAAASCggK" + 
+    "AQISAwIAEgoJCgIDABIDBAAXCggKAQgSAwYALgoJCgIIARIDBgAuCggKAQgSAwgAOQoJCgIICBIDCAA5" + 
+    "CggKAQgSAwoAIgoJCgIIChIDCgAiCgoKAgQAEgQMABIBCgoKAwQAARIDDAgXCgsKBAQAAgASAw0CHQoM" + 
+    "CgUEAAIABRIDDQIICgwKBQQAAgABEgMNCRgKDAoFBAACAAMSAw0bHAoLCgQEAAIBEgMOAhoKDAoFBAAC" + 
+    "AQUSAw4CCAoMCgUEAAIBARIDDgkVCgwKBQQAAgEDEgMOGBkKCwoEBAACAhIDDwIbCgwKBQQAAgIFEgMP" + 
+    "AggKDAoFBAACAgESAw8JFgoMCgUEAAICAxIDDxkaCgsKBAQAAgMSAxACGgoMCgUEAAIDBRIDEAIICgwK" + 
+    "BQQAAgMBEgMQCRUKDAoFBAACAwMSAxAYGQoLCgQEAAIEEgMRAhgKDAoFBAACBAUSAxECCAoMCgUEAAIE" + 
+    "ARIDEQkTCgwKBQQAAgQDEgMRFhcKCgoCBAESBBQAHAEKCgoDBAEBEgMUCBwKCwoEBAECABIDFQIYCgwK" + 
+    "BQQBAgAFEgMVAggKDAoFBAECAAESAxUJEwoMCgUEAQIAAxIDFRYXCgsKBAQBAgESAxYCGAoMCgUEAQIB" + 
+    "BRIDFgIICgwKBQQBAgEBEgMWCRMKDAoFBAECAQMSAxYWFwoLCgQEAQICEgMXAhkKDAoFBAECAgUSAxcC" + 
+    "CAoMCgUEAQICARIDFwkUCgwKBQQBAgIDEgMXFxgKCwoEBAECAxIDGAIXCgwKBQQBAgMGEgMYAhAKDAoF",
+    "BAECAwESAxgREgoMCgUEAQIDAxIDGBUWCgsKBAQBAgQSAxkCFwoMCgUEAQIEBhIDGQIQCgwKBQQBAgQB" + 
+    "EgMZERIKDAoFBAECBAMSAxkVFgoLCgQEAQIFEgMaAhcKDAoFBAECBQYSAxoCEAoMCgUEAQIFARIDGhES" + 
+    "CgwKBQQBAgUDEgMaFRYKCwoEBAECBhIDGwIXCgwKBQQBAgYGEgMbAhAKDAoFBAECBgESAxsREgoMCgUE" + 
+    "AQIGAxIDGxUWYgZwcm90bzM=");
+
+  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("system.proto", "wpi.proto", descriptorData, ProtobufWPIMathDescriptor.getDescriptor());
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufDCMotor_descriptor = descriptor.internalContainedType(43, 196, "ProtobufDCMotor", "wpi.proto.ProtobufDCMotor");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufLinearSystem_descriptor = descriptor.internalContainedType(242, 281, "ProtobufLinearSystem", "wpi.proto.ProtobufLinearSystem");
+
+  /**
+   * @return this proto file's descriptor.
+   */
+  public static Descriptors.FileDescriptor getDescriptor() {
+    return descriptor;
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufTrajectory.java

@@ -0,0 +1,303 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.RepeatedMessage;
+
+/**
+ * Protobuf type {@code ProtobufTrajectory}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufTrajectory extends ProtoMessage<ProtobufTrajectory> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
+   */
+  private final RepeatedMessage<ProtobufTrajectoryState> states = RepeatedMessage.newEmptyInstance(ProtobufTrajectoryState.getFactory());
+
+  private ProtobufTrajectory() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufTrajectory}
+   */
+  public static ProtobufTrajectory newInstance() {
+    return new ProtobufTrajectory();
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
+   * @return whether the states field is set
+   */
+  public boolean hasStates() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
+   * @return this
+   */
+  public ProtobufTrajectory clearStates() {
+    bitField0_ &= ~0x00000001;
+    states.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableStates()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedMessage<ProtobufTrajectoryState> getStates() {
+    return states;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedMessage<ProtobufTrajectoryState> getMutableStates() {
+    bitField0_ |= 0x00000001;
+    return states;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
+   * @param value the states to add
+   * @return this
+   */
+  public ProtobufTrajectory addStates(final ProtobufTrajectoryState value) {
+    bitField0_ |= 0x00000001;
+    states.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
+   * @param values the states to add
+   * @return this
+   */
+  public ProtobufTrajectory addAllStates(final ProtobufTrajectoryState... values) {
+    bitField0_ |= 0x00000001;
+    states.addAll(values);
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectory copyFrom(final ProtobufTrajectory other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      states.copyFrom(other.states);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectory mergeFrom(final ProtobufTrajectory other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasStates()) {
+      getMutableStates().addAll(other.states);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectory clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    states.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectory clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    states.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufTrajectory)) {
+      return false;
+    }
+    ProtobufTrajectory other = (ProtobufTrajectory) o;
+    return bitField0_ == other.bitField0_
+      && (!hasStates() || states.equals(other.states));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      for (int i = 0; i < states.length(); i++) {
+        output.writeRawByte((byte) 18);
+        output.writeMessageNoTag(states.get(i));
+      }
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += (1 * states.length()) + ProtoSink.computeRepeatedMessageSizeNoTag(states);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufTrajectory mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 18: {
+          // states
+          tag = input.readRepeatedMessage(states, tag);
+          bitField0_ |= 0x00000001;
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRepeatedMessage(FieldNames.states, states);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufTrajectory mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -892482046: {
+          if (input.isAtField(FieldNames.states)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedMessage(states);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectory clone() {
+    return new ProtobufTrajectory().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufTrajectory parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufTrajectory(), data).checkInitialized();
+  }
+
+  public static ProtobufTrajectory parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTrajectory(), input).checkInitialized();
+  }
+
+  public static ProtobufTrajectory parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTrajectory(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufTrajectory messages
+   */
+  public static MessageFactory<ProtobufTrajectory> getFactory() {
+    return ProtobufTrajectoryFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufTrajectoryDescriptor.wpi_proto_ProtobufTrajectory_descriptor;
+  }
+
+  private enum ProtobufTrajectoryFactory implements MessageFactory<ProtobufTrajectory> {
+    INSTANCE;
+
+    @Override
+    public ProtobufTrajectory create() {
+      return ProtobufTrajectory.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName states = FieldName.forField("states");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufTrajectoryDescriptor.java

@@ -0,0 +1,41 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.ProtoUtil;
+import us.hebi.quickbuf.RepeatedByte;
+
+public final class ProtobufTrajectoryDescriptor {
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(880,
+    "ChB0cmFqZWN0b3J5LnByb3RvEgl3cGkucHJvdG8aEGdlb21ldHJ5MmQucHJvdG8iugEKF1Byb3RvYnVm" + 
+    "VHJhamVjdG9yeVN0YXRlEhIKBHRpbWUYASABKAFSBHRpbWUSGgoIdmVsb2NpdHkYAiABKAFSCHZlbG9j" + 
+    "aXR5EiIKDGFjY2VsZXJhdGlvbhgDIAEoAVIMYWNjZWxlcmF0aW9uEi0KBHBvc2UYBCABKAsyGS53cGku" + 
+    "cHJvdG8uUHJvdG9idWZQb3NlMmRSBHBvc2USHAoJY3VydmF0dXJlGAUgASgBUgljdXJ2YXR1cmUiUAoS" + 
+    "UHJvdG9idWZUcmFqZWN0b3J5EjoKBnN0YXRlcxgCIAMoCzIiLndwaS5wcm90by5Qcm90b2J1ZlRyYWpl" + 
+    "Y3RvcnlTdGF0ZVIGc3RhdGVzQjcKFW9yZy53cGlsaWIubWF0aC5wcm90b0IcUHJvdG9idWZUcmFqZWN0" + 
+    "b3J5RGVzY3JpcHRvclABSu4DCgYSBAAAFgEKCAoBDBIDAAASCggKAQISAwIAEgoJCgIDABIDBAAaCggK" + 
+    "AQgSAwYALgoJCgIIARIDBgAuCggKAQgSAwgAPQoJCgIICBIDCAA9CggKAQgSAwoAIgoJCgIIChIDCgAi" + 
+    "CgoKAgQAEgQMABIBCgoKAwQAARIDDAgfCgsKBAQAAgASAw0CEgoMCgUEAAIABRIDDQIICgwKBQQAAgAB" + 
+    "EgMNCQ0KDAoFBAACAAMSAw0QEQoLCgQEAAIBEgMOAhYKDAoFBAACAQUSAw4CCAoMCgUEAAIBARIDDgkR" + 
+    "CgwKBQQAAgEDEgMOFBUKCwoEBAACAhIDDwIaCgwKBQQAAgIFEgMPAggKDAoFBAACAgESAw8JFQoMCgUE" + 
+    "AAICAxIDDxgZCgsKBAQAAgMSAxACGgoMCgUEAAIDBhIDEAIQCgwKBQQAAgMBEgMQERUKDAoFBAACAwMS" + 
+    "AxAYGQoLCgQEAAIEEgMRAhcKDAoFBAACBAUSAxECCAoMCgUEAAIEARIDEQkSCgwKBQQAAgQDEgMRFRYK" + 
+    "CgoCBAESBBQAFgEKCgoDBAEBEgMUCBoKCwoEBAECABIDFQIuCgwKBQQBAgAEEgMVAgoKDAoFBAECAAYS" + 
+    "AxULIgoMCgUEAQIAARIDFSMpCgwKBQQBAgADEgMVLC1iBnByb3RvMw==");
+
+  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("trajectory.proto", "wpi.proto", descriptorData, ProtobufGeometry2dDescriptor.getDescriptor());
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufTrajectoryState_descriptor = descriptor.internalContainedType(50, 186, "ProtobufTrajectoryState", "wpi.proto.ProtobufTrajectoryState");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufTrajectory_descriptor = descriptor.internalContainedType(238, 80, "ProtobufTrajectory", "wpi.proto.ProtobufTrajectory");
+
+  /**
+   * @return this proto file's descriptor.
+   */
+  public static Descriptors.FileDescriptor getDescriptor() {
+    return descriptor;
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufTrajectoryState.java

@@ -0,0 +1,611 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufTrajectoryState}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufTrajectoryState extends ProtoMessage<ProtobufTrajectoryState> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double time = 1;</code>
+   */
+  private double time;
+
+  /**
+   * <code>optional double velocity = 2;</code>
+   */
+  private double velocity;
+
+  /**
+   * <code>optional double acceleration = 3;</code>
+   */
+  private double acceleration;
+
+  /**
+   * <code>optional double curvature = 5;</code>
+   */
+  private double curvature;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
+   */
+  private final ProtobufPose2d pose = ProtobufPose2d.newInstance();
+
+  private ProtobufTrajectoryState() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufTrajectoryState}
+   */
+  public static ProtobufTrajectoryState newInstance() {
+    return new ProtobufTrajectoryState();
+  }
+
+  /**
+   * <code>optional double time = 1;</code>
+   * @return whether the time field is set
+   */
+  public boolean hasTime() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double time = 1;</code>
+   * @return this
+   */
+  public ProtobufTrajectoryState clearTime() {
+    bitField0_ &= ~0x00000001;
+    time = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double time = 1;</code>
+   * @return the time
+   */
+  public double getTime() {
+    return time;
+  }
+
+  /**
+   * <code>optional double time = 1;</code>
+   * @param value the time to set
+   * @return this
+   */
+  public ProtobufTrajectoryState setTime(final double value) {
+    bitField0_ |= 0x00000001;
+    time = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double velocity = 2;</code>
+   * @return whether the velocity field is set
+   */
+  public boolean hasVelocity() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double velocity = 2;</code>
+   * @return this
+   */
+  public ProtobufTrajectoryState clearVelocity() {
+    bitField0_ &= ~0x00000002;
+    velocity = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double velocity = 2;</code>
+   * @return the velocity
+   */
+  public double getVelocity() {
+    return velocity;
+  }
+
+  /**
+   * <code>optional double velocity = 2;</code>
+   * @param value the velocity to set
+   * @return this
+   */
+  public ProtobufTrajectoryState setVelocity(final double value) {
+    bitField0_ |= 0x00000002;
+    velocity = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double acceleration = 3;</code>
+   * @return whether the acceleration field is set
+   */
+  public boolean hasAcceleration() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double acceleration = 3;</code>
+   * @return this
+   */
+  public ProtobufTrajectoryState clearAcceleration() {
+    bitField0_ &= ~0x00000004;
+    acceleration = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double acceleration = 3;</code>
+   * @return the acceleration
+   */
+  public double getAcceleration() {
+    return acceleration;
+  }
+
+  /**
+   * <code>optional double acceleration = 3;</code>
+   * @param value the acceleration to set
+   * @return this
+   */
+  public ProtobufTrajectoryState setAcceleration(final double value) {
+    bitField0_ |= 0x00000004;
+    acceleration = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double curvature = 5;</code>
+   * @return whether the curvature field is set
+   */
+  public boolean hasCurvature() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double curvature = 5;</code>
+   * @return this
+   */
+  public ProtobufTrajectoryState clearCurvature() {
+    bitField0_ &= ~0x00000008;
+    curvature = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double curvature = 5;</code>
+   * @return the curvature
+   */
+  public double getCurvature() {
+    return curvature;
+  }
+
+  /**
+   * <code>optional double curvature = 5;</code>
+   * @param value the curvature to set
+   * @return this
+   */
+  public ProtobufTrajectoryState setCurvature(final double value) {
+    bitField0_ |= 0x00000008;
+    curvature = value;
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
+   * @return whether the pose field is set
+   */
+  public boolean hasPose() {
+    return (bitField0_ & 0x00000010) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
+   * @return this
+   */
+  public ProtobufTrajectoryState clearPose() {
+    bitField0_ &= ~0x00000010;
+    pose.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutablePose()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufPose2d getPose() {
+    return pose;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufPose2d getMutablePose() {
+    bitField0_ |= 0x00000010;
+    return pose;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
+   * @param value the pose to set
+   * @return this
+   */
+  public ProtobufTrajectoryState setPose(final ProtobufPose2d value) {
+    bitField0_ |= 0x00000010;
+    pose.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectoryState copyFrom(final ProtobufTrajectoryState other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      time = other.time;
+      velocity = other.velocity;
+      acceleration = other.acceleration;
+      curvature = other.curvature;
+      pose.copyFrom(other.pose);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectoryState mergeFrom(final ProtobufTrajectoryState other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasTime()) {
+      setTime(other.time);
+    }
+    if (other.hasVelocity()) {
+      setVelocity(other.velocity);
+    }
+    if (other.hasAcceleration()) {
+      setAcceleration(other.acceleration);
+    }
+    if (other.hasCurvature()) {
+      setCurvature(other.curvature);
+    }
+    if (other.hasPose()) {
+      getMutablePose().mergeFrom(other.pose);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectoryState clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    time = 0D;
+    velocity = 0D;
+    acceleration = 0D;
+    curvature = 0D;
+    pose.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectoryState clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    pose.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufTrajectoryState)) {
+      return false;
+    }
+    ProtobufTrajectoryState other = (ProtobufTrajectoryState) o;
+    return bitField0_ == other.bitField0_
+      && (!hasTime() || ProtoUtil.isEqual(time, other.time))
+      && (!hasVelocity() || ProtoUtil.isEqual(velocity, other.velocity))
+      && (!hasAcceleration() || ProtoUtil.isEqual(acceleration, other.acceleration))
+      && (!hasCurvature() || ProtoUtil.isEqual(curvature, other.curvature))
+      && (!hasPose() || pose.equals(other.pose));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(time);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(velocity);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(acceleration);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 41);
+      output.writeDoubleNoTag(curvature);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeRawByte((byte) 34);
+      output.writeMessageNoTag(pose);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(pose);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufTrajectoryState mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // time
+          time = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // velocity
+          velocity = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // acceleration
+          acceleration = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 41) {
+            break;
+          }
+        }
+        case 41: {
+          // curvature
+          curvature = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 34) {
+            break;
+          }
+        }
+        case 34: {
+          // pose
+          input.readMessage(pose);
+          bitField0_ |= 0x00000010;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.time, time);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.velocity, velocity);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.acceleration, acceleration);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.curvature, curvature);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeMessage(FieldNames.pose, pose);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufTrajectoryState mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3560141: {
+          if (input.isAtField(FieldNames.time)) {
+            if (!input.trySkipNullValue()) {
+              time = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 2134260957: {
+          if (input.isAtField(FieldNames.velocity)) {
+            if (!input.trySkipNullValue()) {
+              velocity = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -267299712: {
+          if (input.isAtField(FieldNames.acceleration)) {
+            if (!input.trySkipNullValue()) {
+              acceleration = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 768611295: {
+          if (input.isAtField(FieldNames.curvature)) {
+            if (!input.trySkipNullValue()) {
+              curvature = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3446929: {
+          if (input.isAtField(FieldNames.pose)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(pose);
+              bitField0_ |= 0x00000010;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufTrajectoryState clone() {
+    return new ProtobufTrajectoryState().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufTrajectoryState parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufTrajectoryState(), data).checkInitialized();
+  }
+
+  public static ProtobufTrajectoryState parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTrajectoryState(), input).checkInitialized();
+  }
+
+  public static ProtobufTrajectoryState parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTrajectoryState(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufTrajectoryState messages
+   */
+  public static MessageFactory<ProtobufTrajectoryState> getFactory() {
+    return ProtobufTrajectoryStateFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufTrajectoryDescriptor.wpi_proto_ProtobufTrajectoryState_descriptor;
+  }
+
+  private enum ProtobufTrajectoryStateFactory implements MessageFactory<ProtobufTrajectoryState> {
+    INSTANCE;
+
+    @Override
+    public ProtobufTrajectoryState create() {
+      return ProtobufTrajectoryState.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName time = FieldName.forField("time");
+
+    static final FieldName velocity = FieldName.forField("velocity");
+
+    static final FieldName acceleration = FieldName.forField("acceleration");
+
+    static final FieldName curvature = FieldName.forField("curvature");
+
+    static final FieldName pose = FieldName.forField("pose");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufTransform2d.java

@@ -0,0 +1,391 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+
+/**
+ * Protobuf type {@code ProtobufTransform2d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufTransform2d extends ProtoMessage<ProtobufTransform2d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   */
+  private final ProtobufTranslation2d translation = ProtobufTranslation2d.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   */
+  private final ProtobufRotation2d rotation = ProtobufRotation2d.newInstance();
+
+  private ProtobufTransform2d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufTransform2d}
+   */
+  public static ProtobufTransform2d newInstance() {
+    return new ProtobufTransform2d();
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   * @return whether the translation field is set
+   */
+  public boolean hasTranslation() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   * @return this
+   */
+  public ProtobufTransform2d clearTranslation() {
+    bitField0_ &= ~0x00000001;
+    translation.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableTranslation()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufTranslation2d getTranslation() {
+    return translation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufTranslation2d getMutableTranslation() {
+    bitField0_ |= 0x00000001;
+    return translation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation2d translation = 1;</code>
+   * @param value the translation to set
+   * @return this
+   */
+  public ProtobufTransform2d setTranslation(final ProtobufTranslation2d value) {
+    bitField0_ |= 0x00000001;
+    translation.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   * @return whether the rotation field is set
+   */
+  public boolean hasRotation() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   * @return this
+   */
+  public ProtobufTransform2d clearRotation() {
+    bitField0_ &= ~0x00000002;
+    rotation.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableRotation()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufRotation2d getRotation() {
+    return rotation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufRotation2d getMutableRotation() {
+    bitField0_ |= 0x00000002;
+    return rotation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation2d rotation = 2;</code>
+   * @param value the rotation to set
+   * @return this
+   */
+  public ProtobufTransform2d setRotation(final ProtobufRotation2d value) {
+    bitField0_ |= 0x00000002;
+    rotation.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform2d copyFrom(final ProtobufTransform2d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      translation.copyFrom(other.translation);
+      rotation.copyFrom(other.rotation);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform2d mergeFrom(final ProtobufTransform2d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasTranslation()) {
+      getMutableTranslation().mergeFrom(other.translation);
+    }
+    if (other.hasRotation()) {
+      getMutableRotation().mergeFrom(other.rotation);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform2d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    translation.clear();
+    rotation.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform2d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    translation.clearQuick();
+    rotation.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufTransform2d)) {
+      return false;
+    }
+    ProtobufTransform2d other = (ProtobufTransform2d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasTranslation() || translation.equals(other.translation))
+      && (!hasRotation() || rotation.equals(other.rotation));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 10);
+      output.writeMessageNoTag(translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 18);
+      output.writeMessageNoTag(rotation);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(rotation);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufTransform2d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // translation
+          input.readMessage(translation);
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // rotation
+          input.readMessage(rotation);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeMessage(FieldNames.translation, translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeMessage(FieldNames.rotation, rotation);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufTransform2d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -1840647503: {
+          if (input.isAtField(FieldNames.translation)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(translation);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -40300674: {
+          if (input.isAtField(FieldNames.rotation)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(rotation);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform2d clone() {
+    return new ProtobufTransform2d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufTransform2d parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufTransform2d(), data).checkInitialized();
+  }
+
+  public static ProtobufTransform2d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTransform2d(), input).checkInitialized();
+  }
+
+  public static ProtobufTransform2d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTransform2d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufTransform2d messages
+   */
+  public static MessageFactory<ProtobufTransform2d> getFactory() {
+    return ProtobufTransform2dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry2dDescriptor.wpi_proto_ProtobufTransform2d_descriptor;
+  }
+
+  private enum ProtobufTransform2dFactory implements MessageFactory<ProtobufTransform2d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufTransform2d create() {
+      return ProtobufTransform2d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName translation = FieldName.forField("translation");
+
+    static final FieldName rotation = FieldName.forField("rotation");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufTransform3d.java

@@ -0,0 +1,391 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+
+/**
+ * Protobuf type {@code ProtobufTransform3d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufTransform3d extends ProtoMessage<ProtobufTransform3d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   */
+  private final ProtobufTranslation3d translation = ProtobufTranslation3d.newInstance();
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   */
+  private final ProtobufRotation3d rotation = ProtobufRotation3d.newInstance();
+
+  private ProtobufTransform3d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufTransform3d}
+   */
+  public static ProtobufTransform3d newInstance() {
+    return new ProtobufTransform3d();
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   * @return whether the translation field is set
+   */
+  public boolean hasTranslation() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   * @return this
+   */
+  public ProtobufTransform3d clearTranslation() {
+    bitField0_ &= ~0x00000001;
+    translation.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableTranslation()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufTranslation3d getTranslation() {
+    return translation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufTranslation3d getMutableTranslation() {
+    bitField0_ |= 0x00000001;
+    return translation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufTranslation3d translation = 1;</code>
+   * @param value the translation to set
+   * @return this
+   */
+  public ProtobufTransform3d setTranslation(final ProtobufTranslation3d value) {
+    bitField0_ |= 0x00000001;
+    translation.copyFrom(value);
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   * @return whether the rotation field is set
+   */
+  public boolean hasRotation() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   * @return this
+   */
+  public ProtobufTransform3d clearRotation() {
+    bitField0_ &= ~0x00000002;
+    rotation.clear();
+    return this;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableRotation()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public ProtobufRotation3d getRotation() {
+    return rotation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public ProtobufRotation3d getMutableRotation() {
+    bitField0_ |= 0x00000002;
+    return rotation;
+  }
+
+  /**
+   * <code>optional .wpi.proto.ProtobufRotation3d rotation = 2;</code>
+   * @param value the rotation to set
+   * @return this
+   */
+  public ProtobufTransform3d setRotation(final ProtobufRotation3d value) {
+    bitField0_ |= 0x00000002;
+    rotation.copyFrom(value);
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform3d copyFrom(final ProtobufTransform3d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      translation.copyFrom(other.translation);
+      rotation.copyFrom(other.rotation);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform3d mergeFrom(final ProtobufTransform3d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasTranslation()) {
+      getMutableTranslation().mergeFrom(other.translation);
+    }
+    if (other.hasRotation()) {
+      getMutableRotation().mergeFrom(other.rotation);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform3d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    translation.clear();
+    rotation.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform3d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    translation.clearQuick();
+    rotation.clearQuick();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufTransform3d)) {
+      return false;
+    }
+    ProtobufTransform3d other = (ProtobufTransform3d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasTranslation() || translation.equals(other.translation))
+      && (!hasRotation() || rotation.equals(other.rotation));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 10);
+      output.writeMessageNoTag(translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 18);
+      output.writeMessageNoTag(rotation);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 1 + ProtoSink.computeMessageSizeNoTag(rotation);
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufTransform3d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // translation
+          input.readMessage(translation);
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 18) {
+            break;
+          }
+        }
+        case 18: {
+          // rotation
+          input.readMessage(rotation);
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeMessage(FieldNames.translation, translation);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeMessage(FieldNames.rotation, rotation);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufTransform3d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case -1840647503: {
+          if (input.isAtField(FieldNames.translation)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(translation);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -40300674: {
+          if (input.isAtField(FieldNames.rotation)) {
+            if (!input.trySkipNullValue()) {
+              input.readMessage(rotation);
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufTransform3d clone() {
+    return new ProtobufTransform3d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufTransform3d parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufTransform3d(), data).checkInitialized();
+  }
+
+  public static ProtobufTransform3d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTransform3d(), input).checkInitialized();
+  }
+
+  public static ProtobufTransform3d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTransform3d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufTransform3d messages
+   */
+  public static MessageFactory<ProtobufTransform3d> getFactory() {
+    return ProtobufTransform3dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry3dDescriptor.wpi_proto_ProtobufTransform3d_descriptor;
+  }
+
+  private enum ProtobufTransform3dFactory implements MessageFactory<ProtobufTransform3d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufTransform3d create() {
+      return ProtobufTransform3d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName translation = FieldName.forField("translation");
+
+    static final FieldName rotation = FieldName.forField("rotation");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufTranslation2d.java

@@ -0,0 +1,350 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufTranslation2d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufTranslation2d extends ProtoMessage<ProtobufTranslation2d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double x = 1;</code>
+   */
+  private double x;
+
+  /**
+   * <code>optional double y = 2;</code>
+   */
+  private double y;
+
+  private ProtobufTranslation2d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufTranslation2d}
+   */
+  public static ProtobufTranslation2d newInstance() {
+    return new ProtobufTranslation2d();
+  }
+
+  /**
+   * <code>optional double x = 1;</code>
+   * @return whether the x field is set
+   */
+  public boolean hasX() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double x = 1;</code>
+   * @return this
+   */
+  public ProtobufTranslation2d clearX() {
+    bitField0_ &= ~0x00000001;
+    x = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double x = 1;</code>
+   * @return the x
+   */
+  public double getX() {
+    return x;
+  }
+
+  /**
+   * <code>optional double x = 1;</code>
+   * @param value the x to set
+   * @return this
+   */
+  public ProtobufTranslation2d setX(final double value) {
+    bitField0_ |= 0x00000001;
+    x = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double y = 2;</code>
+   * @return whether the y field is set
+   */
+  public boolean hasY() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double y = 2;</code>
+   * @return this
+   */
+  public ProtobufTranslation2d clearY() {
+    bitField0_ &= ~0x00000002;
+    y = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double y = 2;</code>
+   * @return the y
+   */
+  public double getY() {
+    return y;
+  }
+
+  /**
+   * <code>optional double y = 2;</code>
+   * @param value the y to set
+   * @return this
+   */
+  public ProtobufTranslation2d setY(final double value) {
+    bitField0_ |= 0x00000002;
+    y = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation2d copyFrom(final ProtobufTranslation2d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      x = other.x;
+      y = other.y;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation2d mergeFrom(final ProtobufTranslation2d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasX()) {
+      setX(other.x);
+    }
+    if (other.hasY()) {
+      setY(other.y);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation2d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    x = 0D;
+    y = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation2d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufTranslation2d)) {
+      return false;
+    }
+    ProtobufTranslation2d other = (ProtobufTranslation2d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasX() || ProtoUtil.isEqual(x, other.x))
+      && (!hasY() || ProtoUtil.isEqual(y, other.y));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(x);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(y);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufTranslation2d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // x
+          x = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // y
+          y = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.x, x);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.y, y);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufTranslation2d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 120: {
+          if (input.isAtField(FieldNames.x)) {
+            if (!input.trySkipNullValue()) {
+              x = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 121: {
+          if (input.isAtField(FieldNames.y)) {
+            if (!input.trySkipNullValue()) {
+              y = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation2d clone() {
+    return new ProtobufTranslation2d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufTranslation2d parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufTranslation2d(), data).checkInitialized();
+  }
+
+  public static ProtobufTranslation2d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTranslation2d(), input).checkInitialized();
+  }
+
+  public static ProtobufTranslation2d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTranslation2d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufTranslation2d messages
+   */
+  public static MessageFactory<ProtobufTranslation2d> getFactory() {
+    return ProtobufTranslation2dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry2dDescriptor.wpi_proto_ProtobufTranslation2d_descriptor;
+  }
+
+  private enum ProtobufTranslation2dFactory implements MessageFactory<ProtobufTranslation2d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufTranslation2d create() {
+      return ProtobufTranslation2d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName x = FieldName.forField("x");
+
+    static final FieldName y = FieldName.forField("y");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufTranslation3d.java

@@ -0,0 +1,430 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufTranslation3d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufTranslation3d extends ProtoMessage<ProtobufTranslation3d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double x = 1;</code>
+   */
+  private double x;
+
+  /**
+   * <code>optional double y = 2;</code>
+   */
+  private double y;
+
+  /**
+   * <code>optional double z = 3;</code>
+   */
+  private double z;
+
+  private ProtobufTranslation3d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufTranslation3d}
+   */
+  public static ProtobufTranslation3d newInstance() {
+    return new ProtobufTranslation3d();
+  }
+
+  /**
+   * <code>optional double x = 1;</code>
+   * @return whether the x field is set
+   */
+  public boolean hasX() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double x = 1;</code>
+   * @return this
+   */
+  public ProtobufTranslation3d clearX() {
+    bitField0_ &= ~0x00000001;
+    x = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double x = 1;</code>
+   * @return the x
+   */
+  public double getX() {
+    return x;
+  }
+
+  /**
+   * <code>optional double x = 1;</code>
+   * @param value the x to set
+   * @return this
+   */
+  public ProtobufTranslation3d setX(final double value) {
+    bitField0_ |= 0x00000001;
+    x = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double y = 2;</code>
+   * @return whether the y field is set
+   */
+  public boolean hasY() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double y = 2;</code>
+   * @return this
+   */
+  public ProtobufTranslation3d clearY() {
+    bitField0_ &= ~0x00000002;
+    y = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double y = 2;</code>
+   * @return the y
+   */
+  public double getY() {
+    return y;
+  }
+
+  /**
+   * <code>optional double y = 2;</code>
+   * @param value the y to set
+   * @return this
+   */
+  public ProtobufTranslation3d setY(final double value) {
+    bitField0_ |= 0x00000002;
+    y = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double z = 3;</code>
+   * @return whether the z field is set
+   */
+  public boolean hasZ() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double z = 3;</code>
+   * @return this
+   */
+  public ProtobufTranslation3d clearZ() {
+    bitField0_ &= ~0x00000004;
+    z = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double z = 3;</code>
+   * @return the z
+   */
+  public double getZ() {
+    return z;
+  }
+
+  /**
+   * <code>optional double z = 3;</code>
+   * @param value the z to set
+   * @return this
+   */
+  public ProtobufTranslation3d setZ(final double value) {
+    bitField0_ |= 0x00000004;
+    z = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation3d copyFrom(final ProtobufTranslation3d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      x = other.x;
+      y = other.y;
+      z = other.z;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation3d mergeFrom(final ProtobufTranslation3d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasX()) {
+      setX(other.x);
+    }
+    if (other.hasY()) {
+      setY(other.y);
+    }
+    if (other.hasZ()) {
+      setZ(other.z);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation3d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    x = 0D;
+    y = 0D;
+    z = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation3d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufTranslation3d)) {
+      return false;
+    }
+    ProtobufTranslation3d other = (ProtobufTranslation3d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasX() || ProtoUtil.isEqual(x, other.x))
+      && (!hasY() || ProtoUtil.isEqual(y, other.y))
+      && (!hasZ() || ProtoUtil.isEqual(z, other.z));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(x);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(y);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(z);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufTranslation3d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // x
+          x = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // y
+          y = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // z
+          z = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.x, x);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.y, y);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.z, z);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufTranslation3d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 120: {
+          if (input.isAtField(FieldNames.x)) {
+            if (!input.trySkipNullValue()) {
+              x = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 121: {
+          if (input.isAtField(FieldNames.y)) {
+            if (!input.trySkipNullValue()) {
+              y = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 122: {
+          if (input.isAtField(FieldNames.z)) {
+            if (!input.trySkipNullValue()) {
+              z = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufTranslation3d clone() {
+    return new ProtobufTranslation3d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufTranslation3d parseFrom(final byte[] data) throws
+      InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufTranslation3d(), data).checkInitialized();
+  }
+
+  public static ProtobufTranslation3d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTranslation3d(), input).checkInitialized();
+  }
+
+  public static ProtobufTranslation3d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTranslation3d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufTranslation3d messages
+   */
+  public static MessageFactory<ProtobufTranslation3d> getFactory() {
+    return ProtobufTranslation3dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry3dDescriptor.wpi_proto_ProtobufTranslation3d_descriptor;
+  }
+
+  private enum ProtobufTranslation3dFactory implements MessageFactory<ProtobufTranslation3d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufTranslation3d create() {
+      return ProtobufTranslation3d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName x = FieldName.forField("x");
+
+    static final FieldName y = FieldName.forField("y");
+
+    static final FieldName z = FieldName.forField("z");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufTwist2d.java

@@ -0,0 +1,429 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufTwist2d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufTwist2d extends ProtoMessage<ProtobufTwist2d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double dx = 1;</code>
+   */
+  private double dx;
+
+  /**
+   * <code>optional double dy = 2;</code>
+   */
+  private double dy;
+
+  /**
+   * <code>optional double dtheta = 3;</code>
+   */
+  private double dtheta;
+
+  private ProtobufTwist2d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufTwist2d}
+   */
+  public static ProtobufTwist2d newInstance() {
+    return new ProtobufTwist2d();
+  }
+
+  /**
+   * <code>optional double dx = 1;</code>
+   * @return whether the dx field is set
+   */
+  public boolean hasDx() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double dx = 1;</code>
+   * @return this
+   */
+  public ProtobufTwist2d clearDx() {
+    bitField0_ &= ~0x00000001;
+    dx = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double dx = 1;</code>
+   * @return the dx
+   */
+  public double getDx() {
+    return dx;
+  }
+
+  /**
+   * <code>optional double dx = 1;</code>
+   * @param value the dx to set
+   * @return this
+   */
+  public ProtobufTwist2d setDx(final double value) {
+    bitField0_ |= 0x00000001;
+    dx = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double dy = 2;</code>
+   * @return whether the dy field is set
+   */
+  public boolean hasDy() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double dy = 2;</code>
+   * @return this
+   */
+  public ProtobufTwist2d clearDy() {
+    bitField0_ &= ~0x00000002;
+    dy = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double dy = 2;</code>
+   * @return the dy
+   */
+  public double getDy() {
+    return dy;
+  }
+
+  /**
+   * <code>optional double dy = 2;</code>
+   * @param value the dy to set
+   * @return this
+   */
+  public ProtobufTwist2d setDy(final double value) {
+    bitField0_ |= 0x00000002;
+    dy = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double dtheta = 3;</code>
+   * @return whether the dtheta field is set
+   */
+  public boolean hasDtheta() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double dtheta = 3;</code>
+   * @return this
+   */
+  public ProtobufTwist2d clearDtheta() {
+    bitField0_ &= ~0x00000004;
+    dtheta = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double dtheta = 3;</code>
+   * @return the dtheta
+   */
+  public double getDtheta() {
+    return dtheta;
+  }
+
+  /**
+   * <code>optional double dtheta = 3;</code>
+   * @param value the dtheta to set
+   * @return this
+   */
+  public ProtobufTwist2d setDtheta(final double value) {
+    bitField0_ |= 0x00000004;
+    dtheta = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist2d copyFrom(final ProtobufTwist2d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      dx = other.dx;
+      dy = other.dy;
+      dtheta = other.dtheta;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist2d mergeFrom(final ProtobufTwist2d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasDx()) {
+      setDx(other.dx);
+    }
+    if (other.hasDy()) {
+      setDy(other.dy);
+    }
+    if (other.hasDtheta()) {
+      setDtheta(other.dtheta);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist2d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    dx = 0D;
+    dy = 0D;
+    dtheta = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist2d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufTwist2d)) {
+      return false;
+    }
+    ProtobufTwist2d other = (ProtobufTwist2d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasDx() || ProtoUtil.isEqual(dx, other.dx))
+      && (!hasDy() || ProtoUtil.isEqual(dy, other.dy))
+      && (!hasDtheta() || ProtoUtil.isEqual(dtheta, other.dtheta));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(dx);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(dy);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(dtheta);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufTwist2d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // dx
+          dx = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // dy
+          dy = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // dtheta
+          dtheta = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.dx, dx);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.dy, dy);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.dtheta, dtheta);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufTwist2d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3220: {
+          if (input.isAtField(FieldNames.dx)) {
+            if (!input.trySkipNullValue()) {
+              dx = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3221: {
+          if (input.isAtField(FieldNames.dy)) {
+            if (!input.trySkipNullValue()) {
+              dy = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case -1321724742: {
+          if (input.isAtField(FieldNames.dtheta)) {
+            if (!input.trySkipNullValue()) {
+              dtheta = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist2d clone() {
+    return new ProtobufTwist2d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufTwist2d parseFrom(final byte[] data) throws InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufTwist2d(), data).checkInitialized();
+  }
+
+  public static ProtobufTwist2d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTwist2d(), input).checkInitialized();
+  }
+
+  public static ProtobufTwist2d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTwist2d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufTwist2d messages
+   */
+  public static MessageFactory<ProtobufTwist2d> getFactory() {
+    return ProtobufTwist2dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry2dDescriptor.wpi_proto_ProtobufTwist2d_descriptor;
+  }
+
+  private enum ProtobufTwist2dFactory implements MessageFactory<ProtobufTwist2d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufTwist2d create() {
+      return ProtobufTwist2d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName dx = FieldName.forField("dx");
+
+    static final FieldName dy = FieldName.forField("dy");
+
+    static final FieldName dtheta = FieldName.forField("dtheta");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufTwist3d.java

@@ -0,0 +1,669 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.ProtoUtil;
+
+/**
+ * Protobuf type {@code ProtobufTwist3d}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufTwist3d extends ProtoMessage<ProtobufTwist3d> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>optional double dx = 1;</code>
+   */
+  private double dx;
+
+  /**
+   * <code>optional double dy = 2;</code>
+   */
+  private double dy;
+
+  /**
+   * <code>optional double dz = 3;</code>
+   */
+  private double dz;
+
+  /**
+   * <code>optional double rx = 4;</code>
+   */
+  private double rx;
+
+  /**
+   * <code>optional double ry = 5;</code>
+   */
+  private double ry;
+
+  /**
+   * <code>optional double rz = 6;</code>
+   */
+  private double rz;
+
+  private ProtobufTwist3d() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufTwist3d}
+   */
+  public static ProtobufTwist3d newInstance() {
+    return new ProtobufTwist3d();
+  }
+
+  /**
+   * <code>optional double dx = 1;</code>
+   * @return whether the dx field is set
+   */
+  public boolean hasDx() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>optional double dx = 1;</code>
+   * @return this
+   */
+  public ProtobufTwist3d clearDx() {
+    bitField0_ &= ~0x00000001;
+    dx = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double dx = 1;</code>
+   * @return the dx
+   */
+  public double getDx() {
+    return dx;
+  }
+
+  /**
+   * <code>optional double dx = 1;</code>
+   * @param value the dx to set
+   * @return this
+   */
+  public ProtobufTwist3d setDx(final double value) {
+    bitField0_ |= 0x00000001;
+    dx = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double dy = 2;</code>
+   * @return whether the dy field is set
+   */
+  public boolean hasDy() {
+    return (bitField0_ & 0x00000002) != 0;
+  }
+
+  /**
+   * <code>optional double dy = 2;</code>
+   * @return this
+   */
+  public ProtobufTwist3d clearDy() {
+    bitField0_ &= ~0x00000002;
+    dy = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double dy = 2;</code>
+   * @return the dy
+   */
+  public double getDy() {
+    return dy;
+  }
+
+  /**
+   * <code>optional double dy = 2;</code>
+   * @param value the dy to set
+   * @return this
+   */
+  public ProtobufTwist3d setDy(final double value) {
+    bitField0_ |= 0x00000002;
+    dy = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double dz = 3;</code>
+   * @return whether the dz field is set
+   */
+  public boolean hasDz() {
+    return (bitField0_ & 0x00000004) != 0;
+  }
+
+  /**
+   * <code>optional double dz = 3;</code>
+   * @return this
+   */
+  public ProtobufTwist3d clearDz() {
+    bitField0_ &= ~0x00000004;
+    dz = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double dz = 3;</code>
+   * @return the dz
+   */
+  public double getDz() {
+    return dz;
+  }
+
+  /**
+   * <code>optional double dz = 3;</code>
+   * @param value the dz to set
+   * @return this
+   */
+  public ProtobufTwist3d setDz(final double value) {
+    bitField0_ |= 0x00000004;
+    dz = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double rx = 4;</code>
+   * @return whether the rx field is set
+   */
+  public boolean hasRx() {
+    return (bitField0_ & 0x00000008) != 0;
+  }
+
+  /**
+   * <code>optional double rx = 4;</code>
+   * @return this
+   */
+  public ProtobufTwist3d clearRx() {
+    bitField0_ &= ~0x00000008;
+    rx = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double rx = 4;</code>
+   * @return the rx
+   */
+  public double getRx() {
+    return rx;
+  }
+
+  /**
+   * <code>optional double rx = 4;</code>
+   * @param value the rx to set
+   * @return this
+   */
+  public ProtobufTwist3d setRx(final double value) {
+    bitField0_ |= 0x00000008;
+    rx = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double ry = 5;</code>
+   * @return whether the ry field is set
+   */
+  public boolean hasRy() {
+    return (bitField0_ & 0x00000010) != 0;
+  }
+
+  /**
+   * <code>optional double ry = 5;</code>
+   * @return this
+   */
+  public ProtobufTwist3d clearRy() {
+    bitField0_ &= ~0x00000010;
+    ry = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double ry = 5;</code>
+   * @return the ry
+   */
+  public double getRy() {
+    return ry;
+  }
+
+  /**
+   * <code>optional double ry = 5;</code>
+   * @param value the ry to set
+   * @return this
+   */
+  public ProtobufTwist3d setRy(final double value) {
+    bitField0_ |= 0x00000010;
+    ry = value;
+    return this;
+  }
+
+  /**
+   * <code>optional double rz = 6;</code>
+   * @return whether the rz field is set
+   */
+  public boolean hasRz() {
+    return (bitField0_ & 0x00000020) != 0;
+  }
+
+  /**
+   * <code>optional double rz = 6;</code>
+   * @return this
+   */
+  public ProtobufTwist3d clearRz() {
+    bitField0_ &= ~0x00000020;
+    rz = 0D;
+    return this;
+  }
+
+  /**
+   * <code>optional double rz = 6;</code>
+   * @return the rz
+   */
+  public double getRz() {
+    return rz;
+  }
+
+  /**
+   * <code>optional double rz = 6;</code>
+   * @param value the rz to set
+   * @return this
+   */
+  public ProtobufTwist3d setRz(final double value) {
+    bitField0_ |= 0x00000020;
+    rz = value;
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist3d copyFrom(final ProtobufTwist3d other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      dx = other.dx;
+      dy = other.dy;
+      dz = other.dz;
+      rx = other.rx;
+      ry = other.ry;
+      rz = other.rz;
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist3d mergeFrom(final ProtobufTwist3d other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasDx()) {
+      setDx(other.dx);
+    }
+    if (other.hasDy()) {
+      setDy(other.dy);
+    }
+    if (other.hasDz()) {
+      setDz(other.dz);
+    }
+    if (other.hasRx()) {
+      setRx(other.rx);
+    }
+    if (other.hasRy()) {
+      setRy(other.ry);
+    }
+    if (other.hasRz()) {
+      setRz(other.rz);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist3d clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    dx = 0D;
+    dy = 0D;
+    dz = 0D;
+    rx = 0D;
+    ry = 0D;
+    rz = 0D;
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist3d clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufTwist3d)) {
+      return false;
+    }
+    ProtobufTwist3d other = (ProtobufTwist3d) o;
+    return bitField0_ == other.bitField0_
+      && (!hasDx() || ProtoUtil.isEqual(dx, other.dx))
+      && (!hasDy() || ProtoUtil.isEqual(dy, other.dy))
+      && (!hasDz() || ProtoUtil.isEqual(dz, other.dz))
+      && (!hasRx() || ProtoUtil.isEqual(rx, other.rx))
+      && (!hasRy() || ProtoUtil.isEqual(ry, other.ry))
+      && (!hasRz() || ProtoUtil.isEqual(rz, other.rz));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRawByte((byte) 9);
+      output.writeDoubleNoTag(dx);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeRawByte((byte) 17);
+      output.writeDoubleNoTag(dy);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeRawByte((byte) 25);
+      output.writeDoubleNoTag(dz);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeRawByte((byte) 33);
+      output.writeDoubleNoTag(rx);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeRawByte((byte) 41);
+      output.writeDoubleNoTag(ry);
+    }
+    if ((bitField0_ & 0x00000020) != 0) {
+      output.writeRawByte((byte) 49);
+      output.writeDoubleNoTag(rz);
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      size += 9;
+    }
+    if ((bitField0_ & 0x00000020) != 0) {
+      size += 9;
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufTwist3d mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 9: {
+          // dx
+          dx = input.readDouble();
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 17) {
+            break;
+          }
+        }
+        case 17: {
+          // dy
+          dy = input.readDouble();
+          bitField0_ |= 0x00000002;
+          tag = input.readTag();
+          if (tag != 25) {
+            break;
+          }
+        }
+        case 25: {
+          // dz
+          dz = input.readDouble();
+          bitField0_ |= 0x00000004;
+          tag = input.readTag();
+          if (tag != 33) {
+            break;
+          }
+        }
+        case 33: {
+          // rx
+          rx = input.readDouble();
+          bitField0_ |= 0x00000008;
+          tag = input.readTag();
+          if (tag != 41) {
+            break;
+          }
+        }
+        case 41: {
+          // ry
+          ry = input.readDouble();
+          bitField0_ |= 0x00000010;
+          tag = input.readTag();
+          if (tag != 49) {
+            break;
+          }
+        }
+        case 49: {
+          // rz
+          rz = input.readDouble();
+          bitField0_ |= 0x00000020;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeDouble(FieldNames.dx, dx);
+    }
+    if ((bitField0_ & 0x00000002) != 0) {
+      output.writeDouble(FieldNames.dy, dy);
+    }
+    if ((bitField0_ & 0x00000004) != 0) {
+      output.writeDouble(FieldNames.dz, dz);
+    }
+    if ((bitField0_ & 0x00000008) != 0) {
+      output.writeDouble(FieldNames.rx, rx);
+    }
+    if ((bitField0_ & 0x00000010) != 0) {
+      output.writeDouble(FieldNames.ry, ry);
+    }
+    if ((bitField0_ & 0x00000020) != 0) {
+      output.writeDouble(FieldNames.rz, rz);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufTwist3d mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3220: {
+          if (input.isAtField(FieldNames.dx)) {
+            if (!input.trySkipNullValue()) {
+              dx = input.readDouble();
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3221: {
+          if (input.isAtField(FieldNames.dy)) {
+            if (!input.trySkipNullValue()) {
+              dy = input.readDouble();
+              bitField0_ |= 0x00000002;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3222: {
+          if (input.isAtField(FieldNames.dz)) {
+            if (!input.trySkipNullValue()) {
+              dz = input.readDouble();
+              bitField0_ |= 0x00000004;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3654: {
+          if (input.isAtField(FieldNames.rx)) {
+            if (!input.trySkipNullValue()) {
+              rx = input.readDouble();
+              bitField0_ |= 0x00000008;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3655: {
+          if (input.isAtField(FieldNames.ry)) {
+            if (!input.trySkipNullValue()) {
+              ry = input.readDouble();
+              bitField0_ |= 0x00000010;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        case 3656: {
+          if (input.isAtField(FieldNames.rz)) {
+            if (!input.trySkipNullValue()) {
+              rz = input.readDouble();
+              bitField0_ |= 0x00000020;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufTwist3d clone() {
+    return new ProtobufTwist3d().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufTwist3d parseFrom(final byte[] data) throws InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufTwist3d(), data).checkInitialized();
+  }
+
+  public static ProtobufTwist3d parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTwist3d(), input).checkInitialized();
+  }
+
+  public static ProtobufTwist3d parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufTwist3d(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufTwist3d messages
+   */
+  public static MessageFactory<ProtobufTwist3d> getFactory() {
+    return ProtobufTwist3dFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufGeometry3dDescriptor.wpi_proto_ProtobufTwist3d_descriptor;
+  }
+
+  private enum ProtobufTwist3dFactory implements MessageFactory<ProtobufTwist3d> {
+    INSTANCE;
+
+    @Override
+    public ProtobufTwist3d create() {
+      return ProtobufTwist3d.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName dx = FieldName.forField("dx");
+
+    static final FieldName dy = FieldName.forField("dy");
+
+    static final FieldName dz = FieldName.forField("dz");
+
+    static final FieldName rx = FieldName.forField("rx");
+
+    static final FieldName ry = FieldName.forField("ry");
+
+    static final FieldName rz = FieldName.forField("rz");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufVector.java

@@ -0,0 +1,309 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import java.io.IOException;
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.FieldName;
+import us.hebi.quickbuf.InvalidProtocolBufferException;
+import us.hebi.quickbuf.JsonSink;
+import us.hebi.quickbuf.JsonSource;
+import us.hebi.quickbuf.MessageFactory;
+import us.hebi.quickbuf.ProtoMessage;
+import us.hebi.quickbuf.ProtoSink;
+import us.hebi.quickbuf.ProtoSource;
+import us.hebi.quickbuf.RepeatedDouble;
+
+/**
+ * Protobuf type {@code ProtobufVector}
+ */
+@SuppressWarnings("hiding")
+public final class ProtobufVector extends ProtoMessage<ProtobufVector> implements Cloneable {
+  private static final long serialVersionUID = 0L;
+
+  /**
+   * <code>repeated double rows = 1;</code>
+   */
+  private final RepeatedDouble rows = RepeatedDouble.newEmptyInstance();
+
+  private ProtobufVector() {
+  }
+
+  /**
+   * @return a new empty instance of {@code ProtobufVector}
+   */
+  public static ProtobufVector newInstance() {
+    return new ProtobufVector();
+  }
+
+  /**
+   * <code>repeated double rows = 1;</code>
+   * @return whether the rows field is set
+   */
+  public boolean hasRows() {
+    return (bitField0_ & 0x00000001) != 0;
+  }
+
+  /**
+   * <code>repeated double rows = 1;</code>
+   * @return this
+   */
+  public ProtobufVector clearRows() {
+    bitField0_ &= ~0x00000001;
+    rows.clear();
+    return this;
+  }
+
+  /**
+   * <code>repeated double rows = 1;</code>
+   *
+   * This method returns the internal storage object without modifying any has state.
+   * The returned object should not be modified and be treated as read-only.
+   *
+   * Use {@link #getMutableRows()} if you want to modify it.
+   *
+   * @return internal storage object for reading
+   */
+  public RepeatedDouble getRows() {
+    return rows;
+  }
+
+  /**
+   * <code>repeated double rows = 1;</code>
+   *
+   * This method returns the internal storage object and sets the corresponding
+   * has state. The returned object will become part of this message and its
+   * contents may be modified as long as the has state is not cleared.
+   *
+   * @return internal storage object for modifications
+   */
+  public RepeatedDouble getMutableRows() {
+    bitField0_ |= 0x00000001;
+    return rows;
+  }
+
+  /**
+   * <code>repeated double rows = 1;</code>
+   * @param value the rows to add
+   * @return this
+   */
+  public ProtobufVector addRows(final double value) {
+    bitField0_ |= 0x00000001;
+    rows.add(value);
+    return this;
+  }
+
+  /**
+   * <code>repeated double rows = 1;</code>
+   * @param values the rows to add
+   * @return this
+   */
+  public ProtobufVector addAllRows(final double... values) {
+    bitField0_ |= 0x00000001;
+    rows.addAll(values);
+    return this;
+  }
+
+  @Override
+  public ProtobufVector copyFrom(final ProtobufVector other) {
+    cachedSize = other.cachedSize;
+    if ((bitField0_ | other.bitField0_) != 0) {
+      bitField0_ = other.bitField0_;
+      rows.copyFrom(other.rows);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufVector mergeFrom(final ProtobufVector other) {
+    if (other.isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    if (other.hasRows()) {
+      getMutableRows().addAll(other.rows);
+    }
+    return this;
+  }
+
+  @Override
+  public ProtobufVector clear() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    rows.clear();
+    return this;
+  }
+
+  @Override
+  public ProtobufVector clearQuick() {
+    if (isEmpty()) {
+      return this;
+    }
+    cachedSize = -1;
+    bitField0_ = 0;
+    rows.clear();
+    return this;
+  }
+
+  @Override
+  public boolean equals(Object o) {
+    if (o == this) {
+      return true;
+    }
+    if (!(o instanceof ProtobufVector)) {
+      return false;
+    }
+    ProtobufVector other = (ProtobufVector) o;
+    return bitField0_ == other.bitField0_
+      && (!hasRows() || rows.equals(other.rows));
+  }
+
+  @Override
+  public void writeTo(final ProtoSink output) throws IOException {
+    if ((bitField0_ & 0x00000001) != 0) {
+      for (int i = 0; i < rows.length(); i++) {
+        output.writeRawByte((byte) 9);
+        output.writeDoubleNoTag(rows.array()[i]);
+      }
+    }
+  }
+
+  @Override
+  protected int computeSerializedSize() {
+    int size = 0;
+    if ((bitField0_ & 0x00000001) != 0) {
+      size += (1 + 8) * rows.length();
+    }
+    return size;
+  }
+
+  @Override
+  @SuppressWarnings("fallthrough")
+  public ProtobufVector mergeFrom(final ProtoSource input) throws IOException {
+    // Enabled Fall-Through Optimization (QuickBuffers)
+    int tag = input.readTag();
+    while (true) {
+      switch (tag) {
+        case 10: {
+          // rows [packed=true]
+          input.readPackedDouble(rows);
+          bitField0_ |= 0x00000001;
+          tag = input.readTag();
+          if (tag != 0) {
+            break;
+          }
+        }
+        case 0: {
+          return this;
+        }
+        default: {
+          if (!input.skipField(tag)) {
+            return this;
+          }
+          tag = input.readTag();
+          break;
+        }
+        case 9: {
+          // rows [packed=false]
+          tag = input.readRepeatedDouble(rows, tag);
+          bitField0_ |= 0x00000001;
+          break;
+        }
+      }
+    }
+  }
+
+  @Override
+  public void writeTo(final JsonSink output) throws IOException {
+    output.beginObject();
+    if ((bitField0_ & 0x00000001) != 0) {
+      output.writeRepeatedDouble(FieldNames.rows, rows);
+    }
+    output.endObject();
+  }
+
+  @Override
+  public ProtobufVector mergeFrom(final JsonSource input) throws IOException {
+    if (!input.beginObject()) {
+      return this;
+    }
+    while (!input.isAtEnd()) {
+      switch (input.readFieldHash()) {
+        case 3506649: {
+          if (input.isAtField(FieldNames.rows)) {
+            if (!input.trySkipNullValue()) {
+              input.readRepeatedDouble(rows);
+              bitField0_ |= 0x00000001;
+            }
+          } else {
+            input.skipUnknownField();
+          }
+          break;
+        }
+        default: {
+          input.skipUnknownField();
+          break;
+        }
+      }
+    }
+    input.endObject();
+    return this;
+  }
+
+  @Override
+  public ProtobufVector clone() {
+    return new ProtobufVector().copyFrom(this);
+  }
+
+  @Override
+  public boolean isEmpty() {
+    return ((bitField0_) == 0);
+  }
+
+  public static ProtobufVector parseFrom(final byte[] data) throws InvalidProtocolBufferException {
+    return ProtoMessage.mergeFrom(new ProtobufVector(), data).checkInitialized();
+  }
+
+  public static ProtobufVector parseFrom(final ProtoSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufVector(), input).checkInitialized();
+  }
+
+  public static ProtobufVector parseFrom(final JsonSource input) throws IOException {
+    return ProtoMessage.mergeFrom(new ProtobufVector(), input).checkInitialized();
+  }
+
+  /**
+   * @return factory for creating ProtobufVector messages
+   */
+  public static MessageFactory<ProtobufVector> getFactory() {
+    return ProtobufVectorFactory.INSTANCE;
+  }
+
+  /**
+   * @return this type's descriptor.
+   */
+  public static Descriptors.Descriptor getDescriptor() {
+    return ProtobufWPIMathDescriptor.wpi_proto_ProtobufVector_descriptor;
+  }
+
+  private enum ProtobufVectorFactory implements MessageFactory<ProtobufVector> {
+    INSTANCE;
+
+    @Override
+    public ProtobufVector create() {
+      return ProtobufVector.newInstance();
+    }
+  }
+
+  /**
+   * Contains name constants used for serializing JSON
+   */
+  static class FieldNames {
+    static final FieldName rows = FieldName.forField("rows");
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/ProtobufWPIMathDescriptor.java

@@ -0,0 +1,37 @@
+// 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.
+// Code generated by protocol buffer compiler. Do not edit!
+package org.wpilib.math.proto;
+
+import us.hebi.quickbuf.Descriptors;
+import us.hebi.quickbuf.ProtoUtil;
+import us.hebi.quickbuf.RepeatedByte;
+
+public final class ProtobufWPIMathDescriptor {
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(608,
+    "Cg13cGltYXRoLnByb3RvEgl3cGkucHJvdG8iWgoOUHJvdG9idWZNYXRyaXgSGQoIbnVtX3Jvd3MYASAB" + 
+    "KA1SB251bVJvd3MSGQoIbnVtX2NvbHMYAiABKA1SB251bUNvbHMSEgoEZGF0YRgDIAMoAVIEZGF0YSIk" + 
+    "Cg5Qcm90b2J1ZlZlY3RvchISCgRyb3dzGAEgAygBUgRyb3dzQjQKFW9yZy53cGlsaWIubWF0aC5wcm90" + 
+    "b0IZUHJvdG9idWZXUElNYXRoRGVzY3JpcHRvclABSoMDCgYSBAAAEgEKCAoBDBIDAAASCggKAQISAwIA" + 
+    "EgoICgEIEgMEAC4KCQoCCAESAwQALgoICgEIEgMGADoKCQoCCAgSAwYAOgoICgEIEgMIACIKCQoCCAoS" + 
+    "AwgAIgoKCgIEABIECgAOAQoKCgMEAAESAwoIFgoLCgQEAAIAEgMLAhYKDAoFBAACAAUSAwsCCAoMCgUE" + 
+    "AAIAARIDCwkRCgwKBQQAAgADEgMLFBUKCwoEBAACARIDDAIWCgwKBQQAAgEFEgMMAggKDAoFBAACAQES" + 
+    "AwwJEQoMCgUEAAIBAxIDDBQVCgsKBAQAAgISAw0CGwoMCgUEAAICBBIDDQIKCgwKBQQAAgIFEgMNCxEK" + 
+    "DAoFBAACAgESAw0SFgoMCgUEAAICAxIDDRkaCgoKAgQBEgQQABIBCgoKAwQBARIDEAgWCgsKBAQBAgAS" + 
+    "AxECGwoMCgUEAQIABBIDEQIKCgwKBQQBAgAFEgMRCxEKDAoFBAECAAESAxESFgoMCgUEAQIAAxIDERka" + 
+    "YgZwcm90bzM=");
+
+  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("wpimath.proto", "wpi.proto", descriptorData);
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufMatrix_descriptor = descriptor.internalContainedType(28, 90, "ProtobufMatrix", "wpi.proto.ProtobufMatrix");
+
+  static final Descriptors.Descriptor wpi_proto_ProtobufVector_descriptor = descriptor.internalContainedType(120, 36, "ProtobufVector", "wpi.proto.ProtobufVector");
+
+  /**
+   * @return this proto file's descriptor.
+   */
+  public static Descriptors.FileDescriptor getDescriptor() {
+    return descriptor;
+  }
+}

wpimath/src/generated/main/java/org/wpilib/math/proto/Trajectory.java

@@ -1,928 +0,0 @@
-// 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.
-// Code generated by protocol buffer compiler. Do not edit!
-package org.wpilib.math.proto;
-
-import java.io.IOException;
-import us.hebi.quickbuf.Descriptors;
-import us.hebi.quickbuf.FieldName;
-import us.hebi.quickbuf.InvalidProtocolBufferException;
-import us.hebi.quickbuf.JsonSink;
-import us.hebi.quickbuf.JsonSource;
-import us.hebi.quickbuf.MessageFactory;
-import us.hebi.quickbuf.ProtoMessage;
-import us.hebi.quickbuf.ProtoSink;
-import us.hebi.quickbuf.ProtoSource;
-import us.hebi.quickbuf.ProtoUtil;
-import us.hebi.quickbuf.RepeatedByte;
-import us.hebi.quickbuf.RepeatedMessage;
-
-public final class Trajectory {
-  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(806,
-    "ChB0cmFqZWN0b3J5LnByb3RvEgl3cGkucHJvdG8aEGdlb21ldHJ5MmQucHJvdG8iugEKF1Byb3RvYnVm" + 
-    "VHJhamVjdG9yeVN0YXRlEhIKBHRpbWUYASABKAFSBHRpbWUSGgoIdmVsb2NpdHkYAiABKAFSCHZlbG9j" + 
-    "aXR5EiIKDGFjY2VsZXJhdGlvbhgDIAEoAVIMYWNjZWxlcmF0aW9uEi0KBHBvc2UYBCABKAsyGS53cGku" + 
-    "cHJvdG8uUHJvdG9idWZQb3NlMmRSBHBvc2USHAoJY3VydmF0dXJlGAUgASgBUgljdXJ2YXR1cmUiUAoS" + 
-    "UHJvdG9idWZUcmFqZWN0b3J5EjoKBnN0YXRlcxgCIAMoCzIiLndwaS5wcm90by5Qcm90b2J1ZlRyYWpl" + 
-    "Y3RvcnlTdGF0ZVIGc3RhdGVzQhcKFW9yZy53cGlsaWIubWF0aC5wcm90b0rEAwoGEgQAABIBCggKAQwS" + 
-    "AwAAEgoICgECEgMCABIKCQoCAwASAwQAGgoICgEIEgMGAC4KCQoCCAESAwYALgoKCgIEABIECAAOAQoK" + 
-    "CgMEAAESAwgIHwoLCgQEAAIAEgMJAhIKDAoFBAACAAUSAwkCCAoMCgUEAAIAARIDCQkNCgwKBQQAAgAD" + 
-    "EgMJEBEKCwoEBAACARIDCgIWCgwKBQQAAgEFEgMKAggKDAoFBAACAQESAwoJEQoMCgUEAAIBAxIDChQV" + 
-    "CgsKBAQAAgISAwsCGgoMCgUEAAICBRIDCwIICgwKBQQAAgIBEgMLCRUKDAoFBAACAgMSAwsYGQoLCgQE" + 
-    "AAIDEgMMAhoKDAoFBAACAwYSAwwCEAoMCgUEAAIDARIDDBEVCgwKBQQAAgMDEgMMGBkKCwoEBAACBBID" + 
-    "DQIXCgwKBQQAAgQFEgMNAggKDAoFBAACBAESAw0JEgoMCgUEAAIEAxIDDRUWCgoKAgQBEgQQABIBCgoK" + 
-    "AwQBARIDEAgaCgsKBAQBAgASAxECLgoMCgUEAQIABBIDEQIKCgwKBQQBAgAGEgMRCyIKDAoFBAECAAES" + 
-    "AxEjKQoMCgUEAQIAAxIDESwtYgZwcm90bzM=");
-
-  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("trajectory.proto", "wpi.proto", descriptorData, Geometry2D.getDescriptor());
-
-  static final Descriptors.Descriptor wpi_proto_ProtobufTrajectoryState_descriptor = descriptor.internalContainedType(50, 186, "ProtobufTrajectoryState", "wpi.proto.ProtobufTrajectoryState");
-
-  static final Descriptors.Descriptor wpi_proto_ProtobufTrajectory_descriptor = descriptor.internalContainedType(238, 80, "ProtobufTrajectory", "wpi.proto.ProtobufTrajectory");
-
-  /**
-   * @return this proto file's descriptor.
-   */
-  public static Descriptors.FileDescriptor getDescriptor() {
-    return descriptor;
-  }
-
-  /**
-   * Protobuf type {@code ProtobufTrajectoryState}
-   */
-  public static final class ProtobufTrajectoryState extends ProtoMessage<ProtobufTrajectoryState> implements Cloneable {
-    private static final long serialVersionUID = 0L;
-
-    /**
-     * <code>optional double time = 1;</code>
-     */
-    private double time;
-
-    /**
-     * <code>optional double velocity = 2;</code>
-     */
-    private double velocity;
-
-    /**
-     * <code>optional double acceleration = 3;</code>
-     */
-    private double acceleration;
-
-    /**
-     * <code>optional double curvature = 5;</code>
-     */
-    private double curvature;
-
-    /**
-     * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
-     */
-    private final Geometry2D.ProtobufPose2d pose = Geometry2D.ProtobufPose2d.newInstance();
-
-    private ProtobufTrajectoryState() {
-    }
-
-    /**
-     * @return a new empty instance of {@code ProtobufTrajectoryState}
-     */
-    public static ProtobufTrajectoryState newInstance() {
-      return new ProtobufTrajectoryState();
-    }
-
-    /**
-     * <code>optional double time = 1;</code>
-     * @return whether the time field is set
-     */
-    public boolean hasTime() {
-      return (bitField0_ & 0x00000001) != 0;
-    }
-
-    /**
-     * <code>optional double time = 1;</code>
-     * @return this
-     */
-    public ProtobufTrajectoryState clearTime() {
-      bitField0_ &= ~0x00000001;
-      time = 0D;
-      return this;
-    }
-
-    /**
-     * <code>optional double time = 1;</code>
-     * @return the time
-     */
-    public double getTime() {
-      return time;
-    }
-
-    /**
-     * <code>optional double time = 1;</code>
-     * @param value the time to set
-     * @return this
-     */
-    public ProtobufTrajectoryState setTime(final double value) {
-      bitField0_ |= 0x00000001;
-      time = value;
-      return this;
-    }
-
-    /**
-     * <code>optional double velocity = 2;</code>
-     * @return whether the velocity field is set
-     */
-    public boolean hasVelocity() {
-      return (bitField0_ & 0x00000002) != 0;
-    }
-
-    /**
-     * <code>optional double velocity = 2;</code>
-     * @return this
-     */
-    public ProtobufTrajectoryState clearVelocity() {
-      bitField0_ &= ~0x00000002;
-      velocity = 0D;
-      return this;
-    }
-
-    /**
-     * <code>optional double velocity = 2;</code>
-     * @return the velocity
-     */
-    public double getVelocity() {
-      return velocity;
-    }
-
-    /**
-     * <code>optional double velocity = 2;</code>
-     * @param value the velocity to set
-     * @return this
-     */
-    public ProtobufTrajectoryState setVelocity(final double value) {
-      bitField0_ |= 0x00000002;
-      velocity = value;
-      return this;
-    }
-
-    /**
-     * <code>optional double acceleration = 3;</code>
-     * @return whether the acceleration field is set
-     */
-    public boolean hasAcceleration() {
-      return (bitField0_ & 0x00000004) != 0;
-    }
-
-    /**
-     * <code>optional double acceleration = 3;</code>
-     * @return this
-     */
-    public ProtobufTrajectoryState clearAcceleration() {
-      bitField0_ &= ~0x00000004;
-      acceleration = 0D;
-      return this;
-    }
-
-    /**
-     * <code>optional double acceleration = 3;</code>
-     * @return the acceleration
-     */
-    public double getAcceleration() {
-      return acceleration;
-    }
-
-    /**
-     * <code>optional double acceleration = 3;</code>
-     * @param value the acceleration to set
-     * @return this
-     */
-    public ProtobufTrajectoryState setAcceleration(final double value) {
-      bitField0_ |= 0x00000004;
-      acceleration = value;
-      return this;
-    }
-
-    /**
-     * <code>optional double curvature = 5;</code>
-     * @return whether the curvature field is set
-     */
-    public boolean hasCurvature() {
-      return (bitField0_ & 0x00000008) != 0;
-    }
-
-    /**
-     * <code>optional double curvature = 5;</code>
-     * @return this
-     */
-    public ProtobufTrajectoryState clearCurvature() {
-      bitField0_ &= ~0x00000008;
-      curvature = 0D;
-      return this;
-    }
-
-    /**
-     * <code>optional double curvature = 5;</code>
-     * @return the curvature
-     */
-    public double getCurvature() {
-      return curvature;
-    }
-
-    /**
-     * <code>optional double curvature = 5;</code>
-     * @param value the curvature to set
-     * @return this
-     */
-    public ProtobufTrajectoryState setCurvature(final double value) {
-      bitField0_ |= 0x00000008;
-      curvature = value;
-      return this;
-    }
-
-    /**
-     * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
-     * @return whether the pose field is set
-     */
-    public boolean hasPose() {
-      return (bitField0_ & 0x00000010) != 0;
-    }
-
-    /**
-     * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
-     * @return this
-     */
-    public ProtobufTrajectoryState clearPose() {
-      bitField0_ &= ~0x00000010;
-      pose.clear();
-      return this;
-    }
-
-    /**
-     * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
-     *
-     * This method returns the internal storage object without modifying any has state.
-     * The returned object should not be modified and be treated as read-only.
-     *
-     * Use {@link #getMutablePose()} if you want to modify it.
-     *
-     * @return internal storage object for reading
-     */
-    public Geometry2D.ProtobufPose2d getPose() {
-      return pose;
-    }
-
-    /**
-     * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
-     *
-     * This method returns the internal storage object and sets the corresponding
-     * has state. The returned object will become part of this message and its
-     * contents may be modified as long as the has state is not cleared.
-     *
-     * @return internal storage object for modifications
-     */
-    public Geometry2D.ProtobufPose2d getMutablePose() {
-      bitField0_ |= 0x00000010;
-      return pose;
-    }
-
-    /**
-     * <code>optional .wpi.proto.ProtobufPose2d pose = 4;</code>
-     * @param value the pose to set
-     * @return this
-     */
-    public ProtobufTrajectoryState setPose(final Geometry2D.ProtobufPose2d value) {
-      bitField0_ |= 0x00000010;
-      pose.copyFrom(value);
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectoryState copyFrom(final ProtobufTrajectoryState other) {
-      cachedSize = other.cachedSize;
-      if ((bitField0_ | other.bitField0_) != 0) {
-        bitField0_ = other.bitField0_;
-        time = other.time;
-        velocity = other.velocity;
-        acceleration = other.acceleration;
-        curvature = other.curvature;
-        pose.copyFrom(other.pose);
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectoryState mergeFrom(final ProtobufTrajectoryState other) {
-      if (other.isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      if (other.hasTime()) {
-        setTime(other.time);
-      }
-      if (other.hasVelocity()) {
-        setVelocity(other.velocity);
-      }
-      if (other.hasAcceleration()) {
-        setAcceleration(other.acceleration);
-      }
-      if (other.hasCurvature()) {
-        setCurvature(other.curvature);
-      }
-      if (other.hasPose()) {
-        getMutablePose().mergeFrom(other.pose);
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectoryState clear() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      time = 0D;
-      velocity = 0D;
-      acceleration = 0D;
-      curvature = 0D;
-      pose.clear();
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectoryState clearQuick() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      pose.clearQuick();
-      return this;
-    }
-
-    @Override
-    public boolean equals(Object o) {
-      if (o == this) {
-        return true;
-      }
-      if (!(o instanceof ProtobufTrajectoryState)) {
-        return false;
-      }
-      ProtobufTrajectoryState other = (ProtobufTrajectoryState) o;
-      return bitField0_ == other.bitField0_
-        && (!hasTime() || ProtoUtil.isEqual(time, other.time))
-        && (!hasVelocity() || ProtoUtil.isEqual(velocity, other.velocity))
-        && (!hasAcceleration() || ProtoUtil.isEqual(acceleration, other.acceleration))
-        && (!hasCurvature() || ProtoUtil.isEqual(curvature, other.curvature))
-        && (!hasPose() || pose.equals(other.pose));
-    }
-
-    @Override
-    public void writeTo(final ProtoSink output) throws IOException {
-      if ((bitField0_ & 0x00000001) != 0) {
-        output.writeRawByte((byte) 9);
-        output.writeDoubleNoTag(time);
-      }
-      if ((bitField0_ & 0x00000002) != 0) {
-        output.writeRawByte((byte) 17);
-        output.writeDoubleNoTag(velocity);
-      }
-      if ((bitField0_ & 0x00000004) != 0) {
-        output.writeRawByte((byte) 25);
-        output.writeDoubleNoTag(acceleration);
-      }
-      if ((bitField0_ & 0x00000008) != 0) {
-        output.writeRawByte((byte) 41);
-        output.writeDoubleNoTag(curvature);
-      }
-      if ((bitField0_ & 0x00000010) != 0) {
-        output.writeRawByte((byte) 34);
-        output.writeMessageNoTag(pose);
-      }
-    }
-
-    @Override
-    protected int computeSerializedSize() {
-      int size = 0;
-      if ((bitField0_ & 0x00000001) != 0) {
-        size += 9;
-      }
-      if ((bitField0_ & 0x00000002) != 0) {
-        size += 9;
-      }
-      if ((bitField0_ & 0x00000004) != 0) {
-        size += 9;
-      }
-      if ((bitField0_ & 0x00000008) != 0) {
-        size += 9;
-      }
-      if ((bitField0_ & 0x00000010) != 0) {
-        size += 1 + ProtoSink.computeMessageSizeNoTag(pose);
-      }
-      return size;
-    }
-
-    @Override
-    @SuppressWarnings("fallthrough")
-    public ProtobufTrajectoryState mergeFrom(final ProtoSource input) throws IOException {
-      // Enabled Fall-Through Optimization (QuickBuffers)
-      int tag = input.readTag();
-      while (true) {
-        switch (tag) {
-          case 9: {
-            // time
-            time = input.readDouble();
-            bitField0_ |= 0x00000001;
-            tag = input.readTag();
-            if (tag != 17) {
-              break;
-            }
-          }
-          case 17: {
-            // velocity
-            velocity = input.readDouble();
-            bitField0_ |= 0x00000002;
-            tag = input.readTag();
-            if (tag != 25) {
-              break;
-            }
-          }
-          case 25: {
-            // acceleration
-            acceleration = input.readDouble();
-            bitField0_ |= 0x00000004;
-            tag = input.readTag();
-            if (tag != 41) {
-              break;
-            }
-          }
-          case 41: {
-            // curvature
-            curvature = input.readDouble();
-            bitField0_ |= 0x00000008;
-            tag = input.readTag();
-            if (tag != 34) {
-              break;
-            }
-          }
-          case 34: {
-            // pose
-            input.readMessage(pose);
-            bitField0_ |= 0x00000010;
-            tag = input.readTag();
-            if (tag != 0) {
-              break;
-            }
-          }
-          case 0: {
-            return this;
-          }
-          default: {
-            if (!input.skipField(tag)) {
-              return this;
-            }
-            tag = input.readTag();
-            break;
-          }
-        }
-      }
-    }
-
-    @Override
-    public void writeTo(final JsonSink output) throws IOException {
-      output.beginObject();
-      if ((bitField0_ & 0x00000001) != 0) {
-        output.writeDouble(FieldNames.time, time);
-      }
-      if ((bitField0_ & 0x00000002) != 0) {
-        output.writeDouble(FieldNames.velocity, velocity);
-      }
-      if ((bitField0_ & 0x00000004) != 0) {
-        output.writeDouble(FieldNames.acceleration, acceleration);
-      }
-      if ((bitField0_ & 0x00000008) != 0) {
-        output.writeDouble(FieldNames.curvature, curvature);
-      }
-      if ((bitField0_ & 0x00000010) != 0) {
-        output.writeMessage(FieldNames.pose, pose);
-      }
-      output.endObject();
-    }
-
-    @Override
-    public ProtobufTrajectoryState mergeFrom(final JsonSource input) throws IOException {
-      if (!input.beginObject()) {
-        return this;
-      }
-      while (!input.isAtEnd()) {
-        switch (input.readFieldHash()) {
-          case 3560141: {
-            if (input.isAtField(FieldNames.time)) {
-              if (!input.trySkipNullValue()) {
-                time = input.readDouble();
-                bitField0_ |= 0x00000001;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          case 2134260957: {
-            if (input.isAtField(FieldNames.velocity)) {
-              if (!input.trySkipNullValue()) {
-                velocity = input.readDouble();
-                bitField0_ |= 0x00000002;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          case -267299712: {
-            if (input.isAtField(FieldNames.acceleration)) {
-              if (!input.trySkipNullValue()) {
-                acceleration = input.readDouble();
-                bitField0_ |= 0x00000004;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          case 768611295: {
-            if (input.isAtField(FieldNames.curvature)) {
-              if (!input.trySkipNullValue()) {
-                curvature = input.readDouble();
-                bitField0_ |= 0x00000008;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          case 3446929: {
-            if (input.isAtField(FieldNames.pose)) {
-              if (!input.trySkipNullValue()) {
-                input.readMessage(pose);
-                bitField0_ |= 0x00000010;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          default: {
-            input.skipUnknownField();
-            break;
-          }
-        }
-      }
-      input.endObject();
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectoryState clone() {
-      return new ProtobufTrajectoryState().copyFrom(this);
-    }
-
-    @Override
-    public boolean isEmpty() {
-      return ((bitField0_) == 0);
-    }
-
-    public static ProtobufTrajectoryState parseFrom(final byte[] data) throws
-        InvalidProtocolBufferException {
-      return ProtoMessage.mergeFrom(new ProtobufTrajectoryState(), data).checkInitialized();
-    }
-
-    public static ProtobufTrajectoryState parseFrom(final ProtoSource input) throws IOException {
-      return ProtoMessage.mergeFrom(new ProtobufTrajectoryState(), input).checkInitialized();
-    }
-
-    public static ProtobufTrajectoryState parseFrom(final JsonSource input) throws IOException {
-      return ProtoMessage.mergeFrom(new ProtobufTrajectoryState(), input).checkInitialized();
-    }
-
-    /**
-     * @return factory for creating ProtobufTrajectoryState messages
-     */
-    public static MessageFactory<ProtobufTrajectoryState> getFactory() {
-      return ProtobufTrajectoryStateFactory.INSTANCE;
-    }
-
-    /**
-     * @return this type's descriptor.
-     */
-    public static Descriptors.Descriptor getDescriptor() {
-      return Trajectory.wpi_proto_ProtobufTrajectoryState_descriptor;
-    }
-
-    private enum ProtobufTrajectoryStateFactory implements MessageFactory<ProtobufTrajectoryState> {
-      INSTANCE;
-
-      @Override
-      public ProtobufTrajectoryState create() {
-        return ProtobufTrajectoryState.newInstance();
-      }
-    }
-
-    /**
-     * Contains name constants used for serializing JSON
-     */
-    static class FieldNames {
-      static final FieldName time = FieldName.forField("time");
-
-      static final FieldName velocity = FieldName.forField("velocity");
-
-      static final FieldName acceleration = FieldName.forField("acceleration");
-
-      static final FieldName curvature = FieldName.forField("curvature");
-
-      static final FieldName pose = FieldName.forField("pose");
-    }
-  }
-
-  /**
-   * Protobuf type {@code ProtobufTrajectory}
-   */
-  public static final class ProtobufTrajectory extends ProtoMessage<ProtobufTrajectory> implements Cloneable {
-    private static final long serialVersionUID = 0L;
-
-    /**
-     * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
-     */
-    private final RepeatedMessage<ProtobufTrajectoryState> states = RepeatedMessage.newEmptyInstance(ProtobufTrajectoryState.getFactory());
-
-    private ProtobufTrajectory() {
-    }
-
-    /**
-     * @return a new empty instance of {@code ProtobufTrajectory}
-     */
-    public static ProtobufTrajectory newInstance() {
-      return new ProtobufTrajectory();
-    }
-
-    /**
-     * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
-     * @return whether the states field is set
-     */
-    public boolean hasStates() {
-      return (bitField0_ & 0x00000001) != 0;
-    }
-
-    /**
-     * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
-     * @return this
-     */
-    public ProtobufTrajectory clearStates() {
-      bitField0_ &= ~0x00000001;
-      states.clear();
-      return this;
-    }
-
-    /**
-     * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
-     *
-     * This method returns the internal storage object without modifying any has state.
-     * The returned object should not be modified and be treated as read-only.
-     *
-     * Use {@link #getMutableStates()} if you want to modify it.
-     *
-     * @return internal storage object for reading
-     */
-    public RepeatedMessage<ProtobufTrajectoryState> getStates() {
-      return states;
-    }
-
-    /**
-     * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
-     *
-     * This method returns the internal storage object and sets the corresponding
-     * has state. The returned object will become part of this message and its
-     * contents may be modified as long as the has state is not cleared.
-     *
-     * @return internal storage object for modifications
-     */
-    public RepeatedMessage<ProtobufTrajectoryState> getMutableStates() {
-      bitField0_ |= 0x00000001;
-      return states;
-    }
-
-    /**
-     * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
-     * @param value the states to add
-     * @return this
-     */
-    public ProtobufTrajectory addStates(final ProtobufTrajectoryState value) {
-      bitField0_ |= 0x00000001;
-      states.add(value);
-      return this;
-    }
-
-    /**
-     * <code>repeated .wpi.proto.ProtobufTrajectoryState states = 2;</code>
-     * @param values the states to add
-     * @return this
-     */
-    public ProtobufTrajectory addAllStates(final ProtobufTrajectoryState... values) {
-      bitField0_ |= 0x00000001;
-      states.addAll(values);
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectory copyFrom(final ProtobufTrajectory other) {
-      cachedSize = other.cachedSize;
-      if ((bitField0_ | other.bitField0_) != 0) {
-        bitField0_ = other.bitField0_;
-        states.copyFrom(other.states);
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectory mergeFrom(final ProtobufTrajectory other) {
-      if (other.isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      if (other.hasStates()) {
-        getMutableStates().addAll(other.states);
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectory clear() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      states.clear();
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectory clearQuick() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      states.clearQuick();
-      return this;
-    }
-
-    @Override
-    public boolean equals(Object o) {
-      if (o == this) {
-        return true;
-      }
-      if (!(o instanceof ProtobufTrajectory)) {
-        return false;
-      }
-      ProtobufTrajectory other = (ProtobufTrajectory) o;
-      return bitField0_ == other.bitField0_
-        && (!hasStates() || states.equals(other.states));
-    }
-
-    @Override
-    public void writeTo(final ProtoSink output) throws IOException {
-      if ((bitField0_ & 0x00000001) != 0) {
-        for (int i = 0; i < states.length(); i++) {
-          output.writeRawByte((byte) 18);
-          output.writeMessageNoTag(states.get(i));
-        }
-      }
-    }
-
-    @Override
-    protected int computeSerializedSize() {
-      int size = 0;
-      if ((bitField0_ & 0x00000001) != 0) {
-        size += (1 * states.length()) + ProtoSink.computeRepeatedMessageSizeNoTag(states);
-      }
-      return size;
-    }
-
-    @Override
-    @SuppressWarnings("fallthrough")
-    public ProtobufTrajectory mergeFrom(final ProtoSource input) throws IOException {
-      // Enabled Fall-Through Optimization (QuickBuffers)
-      int tag = input.readTag();
-      while (true) {
-        switch (tag) {
-          case 18: {
-            // states
-            tag = input.readRepeatedMessage(states, tag);
-            bitField0_ |= 0x00000001;
-            if (tag != 0) {
-              break;
-            }
-          }
-          case 0: {
-            return this;
-          }
-          default: {
-            if (!input.skipField(tag)) {
-              return this;
-            }
-            tag = input.readTag();
-            break;
-          }
-        }
-      }
-    }
-
-    @Override
-    public void writeTo(final JsonSink output) throws IOException {
-      output.beginObject();
-      if ((bitField0_ & 0x00000001) != 0) {
-        output.writeRepeatedMessage(FieldNames.states, states);
-      }
-      output.endObject();
-    }
-
-    @Override
-    public ProtobufTrajectory mergeFrom(final JsonSource input) throws IOException {
-      if (!input.beginObject()) {
-        return this;
-      }
-      while (!input.isAtEnd()) {
-        switch (input.readFieldHash()) {
-          case -892482046: {
-            if (input.isAtField(FieldNames.states)) {
-              if (!input.trySkipNullValue()) {
-                input.readRepeatedMessage(states);
-                bitField0_ |= 0x00000001;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          default: {
-            input.skipUnknownField();
-            break;
-          }
-        }
-      }
-      input.endObject();
-      return this;
-    }
-
-    @Override
-    public ProtobufTrajectory clone() {
-      return new ProtobufTrajectory().copyFrom(this);
-    }
-
-    @Override
-    public boolean isEmpty() {
-      return ((bitField0_) == 0);
-    }
-
-    public static ProtobufTrajectory parseFrom(final byte[] data) throws
-        InvalidProtocolBufferException {
-      return ProtoMessage.mergeFrom(new ProtobufTrajectory(), data).checkInitialized();
-    }
-
-    public static ProtobufTrajectory parseFrom(final ProtoSource input) throws IOException {
-      return ProtoMessage.mergeFrom(new ProtobufTrajectory(), input).checkInitialized();
-    }
-
-    public static ProtobufTrajectory parseFrom(final JsonSource input) throws IOException {
-      return ProtoMessage.mergeFrom(new ProtobufTrajectory(), input).checkInitialized();
-    }
-
-    /**
-     * @return factory for creating ProtobufTrajectory messages
-     */
-    public static MessageFactory<ProtobufTrajectory> getFactory() {
-      return ProtobufTrajectoryFactory.INSTANCE;
-    }
-
-    /**
-     * @return this type's descriptor.
-     */
-    public static Descriptors.Descriptor getDescriptor() {
-      return Trajectory.wpi_proto_ProtobufTrajectory_descriptor;
-    }
-
-    private enum ProtobufTrajectoryFactory implements MessageFactory<ProtobufTrajectory> {
-      INSTANCE;
-
-      @Override
-      public ProtobufTrajectory create() {
-        return ProtobufTrajectory.newInstance();
-      }
-    }
-
-    /**
-     * Contains name constants used for serializing JSON
-     */
-    static class FieldNames {
-      static final FieldName states = FieldName.forField("states");
-    }
-  }
-}

wpimath/src/generated/main/java/org/wpilib/math/proto/Wpimath.java

@@ -1,791 +0,0 @@
-// 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.
-// Code generated by protocol buffer compiler. Do not edit!
-package org.wpilib.math.proto;
-
-import java.io.IOException;
-import us.hebi.quickbuf.Descriptors;
-import us.hebi.quickbuf.FieldName;
-import us.hebi.quickbuf.InvalidProtocolBufferException;
-import us.hebi.quickbuf.JsonSink;
-import us.hebi.quickbuf.JsonSource;
-import us.hebi.quickbuf.MessageFactory;
-import us.hebi.quickbuf.ProtoMessage;
-import us.hebi.quickbuf.ProtoSink;
-import us.hebi.quickbuf.ProtoSource;
-import us.hebi.quickbuf.ProtoUtil;
-import us.hebi.quickbuf.RepeatedByte;
-import us.hebi.quickbuf.RepeatedDouble;
-
-public final class Wpimath {
-  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(537,
-    "Cg13cGltYXRoLnByb3RvEgl3cGkucHJvdG8iWgoOUHJvdG9idWZNYXRyaXgSGQoIbnVtX3Jvd3MYASAB" + 
-    "KA1SB251bVJvd3MSGQoIbnVtX2NvbHMYAiABKA1SB251bUNvbHMSEgoEZGF0YRgDIAMoAVIEZGF0YSIk" + 
-    "Cg5Qcm90b2J1ZlZlY3RvchISCgRyb3dzGAEgAygBUgRyb3dzQhcKFW9yZy53cGlsaWIubWF0aC5wcm90" + 
-    "b0rZAgoGEgQAAA4BCggKAQwSAwAAEgoICgECEgMCABIKCAoBCBIDBAAuCgkKAggBEgMEAC4KCgoCBAAS" + 
-    "BAYACgEKCgoDBAABEgMGCBYKCwoEBAACABIDBwIWCgwKBQQAAgAFEgMHAggKDAoFBAACAAESAwcJEQoM" + 
-    "CgUEAAIAAxIDBxQVCgsKBAQAAgESAwgCFgoMCgUEAAIBBRIDCAIICgwKBQQAAgEBEgMICREKDAoFBAAC" + 
-    "AQMSAwgUFQoLCgQEAAICEgMJAhsKDAoFBAACAgQSAwkCCgoMCgUEAAICBRIDCQsRCgwKBQQAAgIBEgMJ" + 
-    "EhYKDAoFBAACAgMSAwkZGgoKCgIEARIEDAAOAQoKCgMEAQESAwwIFgoLCgQEAQIAEgMNAhsKDAoFBAEC" + 
-    "AAQSAw0CCgoMCgUEAQIABRIDDQsRCgwKBQQBAgABEgMNEhYKDAoFBAECAAMSAw0ZGmIGcHJvdG8z");
-
-  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("wpimath.proto", "wpi.proto", descriptorData);
-
-  static final Descriptors.Descriptor wpi_proto_ProtobufMatrix_descriptor = descriptor.internalContainedType(28, 90, "ProtobufMatrix", "wpi.proto.ProtobufMatrix");
-
-  static final Descriptors.Descriptor wpi_proto_ProtobufVector_descriptor = descriptor.internalContainedType(120, 36, "ProtobufVector", "wpi.proto.ProtobufVector");
-
-  /**
-   * @return this proto file's descriptor.
-   */
-  public static Descriptors.FileDescriptor getDescriptor() {
-    return descriptor;
-  }
-
-  /**
-   * Protobuf type {@code ProtobufMatrix}
-   */
-  public static final class ProtobufMatrix extends ProtoMessage<ProtobufMatrix> implements Cloneable {
-    private static final long serialVersionUID = 0L;
-
-    /**
-     * <code>optional uint32 num_rows = 1;</code>
-     */
-    private int numRows;
-
-    /**
-     * <code>optional uint32 num_cols = 2;</code>
-     */
-    private int numCols;
-
-    /**
-     * <code>repeated double data = 3;</code>
-     */
-    private final RepeatedDouble data = RepeatedDouble.newEmptyInstance();
-
-    private ProtobufMatrix() {
-    }
-
-    /**
-     * @return a new empty instance of {@code ProtobufMatrix}
-     */
-    public static ProtobufMatrix newInstance() {
-      return new ProtobufMatrix();
-    }
-
-    /**
-     * <code>optional uint32 num_rows = 1;</code>
-     * @return whether the numRows field is set
-     */
-    public boolean hasNumRows() {
-      return (bitField0_ & 0x00000001) != 0;
-    }
-
-    /**
-     * <code>optional uint32 num_rows = 1;</code>
-     * @return this
-     */
-    public ProtobufMatrix clearNumRows() {
-      bitField0_ &= ~0x00000001;
-      numRows = 0;
-      return this;
-    }
-
-    /**
-     * <code>optional uint32 num_rows = 1;</code>
-     * @return the numRows
-     */
-    public int getNumRows() {
-      return numRows;
-    }
-
-    /**
-     * <code>optional uint32 num_rows = 1;</code>
-     * @param value the numRows to set
-     * @return this
-     */
-    public ProtobufMatrix setNumRows(final int value) {
-      bitField0_ |= 0x00000001;
-      numRows = value;
-      return this;
-    }
-
-    /**
-     * <code>optional uint32 num_cols = 2;</code>
-     * @return whether the numCols field is set
-     */
-    public boolean hasNumCols() {
-      return (bitField0_ & 0x00000002) != 0;
-    }
-
-    /**
-     * <code>optional uint32 num_cols = 2;</code>
-     * @return this
-     */
-    public ProtobufMatrix clearNumCols() {
-      bitField0_ &= ~0x00000002;
-      numCols = 0;
-      return this;
-    }
-
-    /**
-     * <code>optional uint32 num_cols = 2;</code>
-     * @return the numCols
-     */
-    public int getNumCols() {
-      return numCols;
-    }
-
-    /**
-     * <code>optional uint32 num_cols = 2;</code>
-     * @param value the numCols to set
-     * @return this
-     */
-    public ProtobufMatrix setNumCols(final int value) {
-      bitField0_ |= 0x00000002;
-      numCols = value;
-      return this;
-    }
-
-    /**
-     * <code>repeated double data = 3;</code>
-     * @return whether the data field is set
-     */
-    public boolean hasData() {
-      return (bitField0_ & 0x00000004) != 0;
-    }
-
-    /**
-     * <code>repeated double data = 3;</code>
-     * @return this
-     */
-    public ProtobufMatrix clearData() {
-      bitField0_ &= ~0x00000004;
-      data.clear();
-      return this;
-    }
-
-    /**
-     * <code>repeated double data = 3;</code>
-     *
-     * This method returns the internal storage object without modifying any has state.
-     * The returned object should not be modified and be treated as read-only.
-     *
-     * Use {@link #getMutableData()} if you want to modify it.
-     *
-     * @return internal storage object for reading
-     */
-    public RepeatedDouble getData() {
-      return data;
-    }
-
-    /**
-     * <code>repeated double data = 3;</code>
-     *
-     * This method returns the internal storage object and sets the corresponding
-     * has state. The returned object will become part of this message and its
-     * contents may be modified as long as the has state is not cleared.
-     *
-     * @return internal storage object for modifications
-     */
-    public RepeatedDouble getMutableData() {
-      bitField0_ |= 0x00000004;
-      return data;
-    }
-
-    /**
-     * <code>repeated double data = 3;</code>
-     * @param value the data to add
-     * @return this
-     */
-    public ProtobufMatrix addData(final double value) {
-      bitField0_ |= 0x00000004;
-      data.add(value);
-      return this;
-    }
-
-    /**
-     * <code>repeated double data = 3;</code>
-     * @param values the data to add
-     * @return this
-     */
-    public ProtobufMatrix addAllData(final double... values) {
-      bitField0_ |= 0x00000004;
-      data.addAll(values);
-      return this;
-    }
-
-    @Override
-    public ProtobufMatrix copyFrom(final ProtobufMatrix other) {
-      cachedSize = other.cachedSize;
-      if ((bitField0_ | other.bitField0_) != 0) {
-        bitField0_ = other.bitField0_;
-        numRows = other.numRows;
-        numCols = other.numCols;
-        data.copyFrom(other.data);
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufMatrix mergeFrom(final ProtobufMatrix other) {
-      if (other.isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      if (other.hasNumRows()) {
-        setNumRows(other.numRows);
-      }
-      if (other.hasNumCols()) {
-        setNumCols(other.numCols);
-      }
-      if (other.hasData()) {
-        getMutableData().addAll(other.data);
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufMatrix clear() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      numRows = 0;
-      numCols = 0;
-      data.clear();
-      return this;
-    }
-
-    @Override
-    public ProtobufMatrix clearQuick() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      data.clear();
-      return this;
-    }
-
-    @Override
-    public boolean equals(Object o) {
-      if (o == this) {
-        return true;
-      }
-      if (!(o instanceof ProtobufMatrix)) {
-        return false;
-      }
-      ProtobufMatrix other = (ProtobufMatrix) o;
-      return bitField0_ == other.bitField0_
-        && (!hasNumRows() || numRows == other.numRows)
-        && (!hasNumCols() || numCols == other.numCols)
-        && (!hasData() || data.equals(other.data));
-    }
-
-    @Override
-    public void writeTo(final ProtoSink output) throws IOException {
-      if ((bitField0_ & 0x00000001) != 0) {
-        output.writeRawByte((byte) 8);
-        output.writeUInt32NoTag(numRows);
-      }
-      if ((bitField0_ & 0x00000002) != 0) {
-        output.writeRawByte((byte) 16);
-        output.writeUInt32NoTag(numCols);
-      }
-      if ((bitField0_ & 0x00000004) != 0) {
-        for (int i = 0; i < data.length(); i++) {
-          output.writeRawByte((byte) 25);
-          output.writeDoubleNoTag(data.array()[i]);
-        }
-      }
-    }
-
-    @Override
-    protected int computeSerializedSize() {
-      int size = 0;
-      if ((bitField0_ & 0x00000001) != 0) {
-        size += 1 + ProtoSink.computeUInt32SizeNoTag(numRows);
-      }
-      if ((bitField0_ & 0x00000002) != 0) {
-        size += 1 + ProtoSink.computeUInt32SizeNoTag(numCols);
-      }
-      if ((bitField0_ & 0x00000004) != 0) {
-        size += (1 + 8) * data.length();
-      }
-      return size;
-    }
-
-    @Override
-    @SuppressWarnings("fallthrough")
-    public ProtobufMatrix mergeFrom(final ProtoSource input) throws IOException {
-      // Enabled Fall-Through Optimization (QuickBuffers)
-      int tag = input.readTag();
-      while (true) {
-        switch (tag) {
-          case 8: {
-            // numRows
-            numRows = input.readUInt32();
-            bitField0_ |= 0x00000001;
-            tag = input.readTag();
-            if (tag != 16) {
-              break;
-            }
-          }
-          case 16: {
-            // numCols
-            numCols = input.readUInt32();
-            bitField0_ |= 0x00000002;
-            tag = input.readTag();
-            if (tag != 26) {
-              break;
-            }
-          }
-          case 26: {
-            // data [packed=true]
-            input.readPackedDouble(data);
-            bitField0_ |= 0x00000004;
-            tag = input.readTag();
-            if (tag != 0) {
-              break;
-            }
-          }
-          case 0: {
-            return this;
-          }
-          default: {
-            if (!input.skipField(tag)) {
-              return this;
-            }
-            tag = input.readTag();
-            break;
-          }
-          case 25: {
-            // data [packed=false]
-            tag = input.readRepeatedDouble(data, tag);
-            bitField0_ |= 0x00000004;
-            break;
-          }
-        }
-      }
-    }
-
-    @Override
-    public void writeTo(final JsonSink output) throws IOException {
-      output.beginObject();
-      if ((bitField0_ & 0x00000001) != 0) {
-        output.writeUInt32(FieldNames.numRows, numRows);
-      }
-      if ((bitField0_ & 0x00000002) != 0) {
-        output.writeUInt32(FieldNames.numCols, numCols);
-      }
-      if ((bitField0_ & 0x00000004) != 0) {
-        output.writeRepeatedDouble(FieldNames.data, data);
-      }
-      output.endObject();
-    }
-
-    @Override
-    public ProtobufMatrix mergeFrom(final JsonSource input) throws IOException {
-      if (!input.beginObject()) {
-        return this;
-      }
-      while (!input.isAtEnd()) {
-        switch (input.readFieldHash()) {
-          case -2000982401:
-          case -1888824590: {
-            if (input.isAtField(FieldNames.numRows)) {
-              if (!input.trySkipNullValue()) {
-                numRows = input.readUInt32();
-                bitField0_ |= 0x00000001;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          case -2001429607:
-          case -1889271796: {
-            if (input.isAtField(FieldNames.numCols)) {
-              if (!input.trySkipNullValue()) {
-                numCols = input.readUInt32();
-                bitField0_ |= 0x00000002;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          case 3076010: {
-            if (input.isAtField(FieldNames.data)) {
-              if (!input.trySkipNullValue()) {
-                input.readRepeatedDouble(data);
-                bitField0_ |= 0x00000004;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          default: {
-            input.skipUnknownField();
-            break;
-          }
-        }
-      }
-      input.endObject();
-      return this;
-    }
-
-    @Override
-    public ProtobufMatrix clone() {
-      return new ProtobufMatrix().copyFrom(this);
-    }
-
-    @Override
-    public boolean isEmpty() {
-      return ((bitField0_) == 0);
-    }
-
-    public static ProtobufMatrix parseFrom(final byte[] data) throws
-        InvalidProtocolBufferException {
-      return ProtoMessage.mergeFrom(new ProtobufMatrix(), data).checkInitialized();
-    }
-
-    public static ProtobufMatrix parseFrom(final ProtoSource input) throws IOException {
-      return ProtoMessage.mergeFrom(new ProtobufMatrix(), input).checkInitialized();
-    }
-
-    public static ProtobufMatrix parseFrom(final JsonSource input) throws IOException {
-      return ProtoMessage.mergeFrom(new ProtobufMatrix(), input).checkInitialized();
-    }
-
-    /**
-     * @return factory for creating ProtobufMatrix messages
-     */
-    public static MessageFactory<ProtobufMatrix> getFactory() {
-      return ProtobufMatrixFactory.INSTANCE;
-    }
-
-    /**
-     * @return this type's descriptor.
-     */
-    public static Descriptors.Descriptor getDescriptor() {
-      return Wpimath.wpi_proto_ProtobufMatrix_descriptor;
-    }
-
-    private enum ProtobufMatrixFactory implements MessageFactory<ProtobufMatrix> {
-      INSTANCE;
-
-      @Override
-      public ProtobufMatrix create() {
-        return ProtobufMatrix.newInstance();
-      }
-    }
-
-    /**
-     * Contains name constants used for serializing JSON
-     */
-    static class FieldNames {
-      static final FieldName numRows = FieldName.forField("numRows", "num_rows");
-
-      static final FieldName numCols = FieldName.forField("numCols", "num_cols");
-
-      static final FieldName data = FieldName.forField("data");
-    }
-  }
-
-  /**
-   * Protobuf type {@code ProtobufVector}
-   */
-  public static final class ProtobufVector extends ProtoMessage<ProtobufVector> implements Cloneable {
-    private static final long serialVersionUID = 0L;
-
-    /**
-     * <code>repeated double rows = 1;</code>
-     */
-    private final RepeatedDouble rows = RepeatedDouble.newEmptyInstance();
-
-    private ProtobufVector() {
-    }
-
-    /**
-     * @return a new empty instance of {@code ProtobufVector}
-     */
-    public static ProtobufVector newInstance() {
-      return new ProtobufVector();
-    }
-
-    /**
-     * <code>repeated double rows = 1;</code>
-     * @return whether the rows field is set
-     */
-    public boolean hasRows() {
-      return (bitField0_ & 0x00000001) != 0;
-    }
-
-    /**
-     * <code>repeated double rows = 1;</code>
-     * @return this
-     */
-    public ProtobufVector clearRows() {
-      bitField0_ &= ~0x00000001;
-      rows.clear();
-      return this;
-    }
-
-    /**
-     * <code>repeated double rows = 1;</code>
-     *
-     * This method returns the internal storage object without modifying any has state.
-     * The returned object should not be modified and be treated as read-only.
-     *
-     * Use {@link #getMutableRows()} if you want to modify it.
-     *
-     * @return internal storage object for reading
-     */
-    public RepeatedDouble getRows() {
-      return rows;
-    }
-
-    /**
-     * <code>repeated double rows = 1;</code>
-     *
-     * This method returns the internal storage object and sets the corresponding
-     * has state. The returned object will become part of this message and its
-     * contents may be modified as long as the has state is not cleared.
-     *
-     * @return internal storage object for modifications
-     */
-    public RepeatedDouble getMutableRows() {
-      bitField0_ |= 0x00000001;
-      return rows;
-    }
-
-    /**
-     * <code>repeated double rows = 1;</code>
-     * @param value the rows to add
-     * @return this
-     */
-    public ProtobufVector addRows(final double value) {
-      bitField0_ |= 0x00000001;
-      rows.add(value);
-      return this;
-    }
-
-    /**
-     * <code>repeated double rows = 1;</code>
-     * @param values the rows to add
-     * @return this
-     */
-    public ProtobufVector addAllRows(final double... values) {
-      bitField0_ |= 0x00000001;
-      rows.addAll(values);
-      return this;
-    }
-
-    @Override
-    public ProtobufVector copyFrom(final ProtobufVector other) {
-      cachedSize = other.cachedSize;
-      if ((bitField0_ | other.bitField0_) != 0) {
-        bitField0_ = other.bitField0_;
-        rows.copyFrom(other.rows);
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufVector mergeFrom(final ProtobufVector other) {
-      if (other.isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      if (other.hasRows()) {
-        getMutableRows().addAll(other.rows);
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufVector clear() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      rows.clear();
-      return this;
-    }
-
-    @Override
-    public ProtobufVector clearQuick() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      rows.clear();
-      return this;
-    }
-
-    @Override
-    public boolean equals(Object o) {
-      if (o == this) {
-        return true;
-      }
-      if (!(o instanceof ProtobufVector)) {
-        return false;
-      }
-      ProtobufVector other = (ProtobufVector) o;
-      return bitField0_ == other.bitField0_
-        && (!hasRows() || rows.equals(other.rows));
-    }
-
-    @Override
-    public void writeTo(final ProtoSink output) throws IOException {
-      if ((bitField0_ & 0x00000001) != 0) {
-        for (int i = 0; i < rows.length(); i++) {
-          output.writeRawByte((byte) 9);
-          output.writeDoubleNoTag(rows.array()[i]);
-        }
-      }
-    }
-
-    @Override
-    protected int computeSerializedSize() {
-      int size = 0;
-      if ((bitField0_ & 0x00000001) != 0) {
-        size += (1 + 8) * rows.length();
-      }
-      return size;
-    }
-
-    @Override
-    @SuppressWarnings("fallthrough")
-    public ProtobufVector mergeFrom(final ProtoSource input) throws IOException {
-      // Enabled Fall-Through Optimization (QuickBuffers)
-      int tag = input.readTag();
-      while (true) {
-        switch (tag) {
-          case 10: {
-            // rows [packed=true]
-            input.readPackedDouble(rows);
-            bitField0_ |= 0x00000001;
-            tag = input.readTag();
-            if (tag != 0) {
-              break;
-            }
-          }
-          case 0: {
-            return this;
-          }
-          default: {
-            if (!input.skipField(tag)) {
-              return this;
-            }
-            tag = input.readTag();
-            break;
-          }
-          case 9: {
-            // rows [packed=false]
-            tag = input.readRepeatedDouble(rows, tag);
-            bitField0_ |= 0x00000001;
-            break;
-          }
-        }
-      }
-    }
-
-    @Override
-    public void writeTo(final JsonSink output) throws IOException {
-      output.beginObject();
-      if ((bitField0_ & 0x00000001) != 0) {
-        output.writeRepeatedDouble(FieldNames.rows, rows);
-      }
-      output.endObject();
-    }
-
-    @Override
-    public ProtobufVector mergeFrom(final JsonSource input) throws IOException {
-      if (!input.beginObject()) {
-        return this;
-      }
-      while (!input.isAtEnd()) {
-        switch (input.readFieldHash()) {
-          case 3506649: {
-            if (input.isAtField(FieldNames.rows)) {
-              if (!input.trySkipNullValue()) {
-                input.readRepeatedDouble(rows);
-                bitField0_ |= 0x00000001;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          default: {
-            input.skipUnknownField();
-            break;
-          }
-        }
-      }
-      input.endObject();
-      return this;
-    }
-
-    @Override
-    public ProtobufVector clone() {
-      return new ProtobufVector().copyFrom(this);
-    }
-
-    @Override
-    public boolean isEmpty() {
-      return ((bitField0_) == 0);
-    }
-
-    public static ProtobufVector parseFrom(final byte[] data) throws
-        InvalidProtocolBufferException {
-      return ProtoMessage.mergeFrom(new ProtobufVector(), data).checkInitialized();
-    }
-
-    public static ProtobufVector parseFrom(final ProtoSource input) throws IOException {
-      return ProtoMessage.mergeFrom(new ProtobufVector(), input).checkInitialized();
-    }
-
-    public static ProtobufVector parseFrom(final JsonSource input) throws IOException {
-      return ProtoMessage.mergeFrom(new ProtobufVector(), input).checkInitialized();
-    }
-
-    /**
-     * @return factory for creating ProtobufVector messages
-     */
-    public static MessageFactory<ProtobufVector> getFactory() {
-      return ProtobufVectorFactory.INSTANCE;
-    }
-
-    /**
-     * @return this type's descriptor.
-     */
-    public static Descriptors.Descriptor getDescriptor() {
-      return Wpimath.wpi_proto_ProtobufVector_descriptor;
-    }
-
-    private enum ProtobufVectorFactory implements MessageFactory<ProtobufVector> {
-      INSTANCE;
-
-      @Override
-      public ProtobufVector create() {
-        return ProtobufVector.newInstance();
-      }
-    }
-
-    /**
-     * Contains name constants used for serializing JSON
-     */
-    static class FieldNames {
-      static final FieldName rows = FieldName.forField("rows");
-    }
-  }
-}

wpimath/src/generated/main/native/cpp/wpimath/protobuf/controller.npb.cpp

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 static const char file_name[] = "controller.proto";
 static const char wpi_proto_ProtobufArmFeedforward_name[] = "wpi.proto.ProtobufArmFeedforward";

wpimath/src/generated/main/native/cpp/wpimath/protobuf/geometry2d.npb.cpp

@@ -87,120 +87,128 @@ static const uint8_t file_descriptor[] {
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 };
 static const char file_name[] = "geometry2d.proto";
 static const char wpi_proto_ProtobufTranslation2d_name[] = "wpi.proto.ProtobufTranslation2d";

wpimath/src/generated/main/native/cpp/wpimath/protobuf/geometry3d.npb.cpp

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 static const char file_name[] = "geometry3d.proto";
 static const char wpi_proto_ProtobufTranslation3d_name[] = "wpi.proto.ProtobufTranslation3d";

wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.cpp

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 static const char file_name[] = "kinematics.proto";
 static const char wpi_proto_ProtobufChassisSpeeds_name[] = "wpi.proto.ProtobufChassisSpeeds";

wpimath/src/generated/main/native/cpp/wpimath/protobuf/spline.npb.cpp

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wpimath/src/generated/main/native/cpp/wpimath/protobuf/system.npb.cpp

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 };
 static const char file_name[] = "system.proto";

wpimath/src/generated/main/native/cpp/wpimath/protobuf/trajectory.npb.cpp

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 };
 static const char file_name[] = "trajectory.proto";
 static const char wpi_proto_ProtobufTrajectoryState_name[] = "wpi.proto.ProtobufTrajectoryState";

wpimath/src/generated/main/native/cpp/wpimath/protobuf/wpimath.npb.cpp

@@ -27,45 +27,52 @@ static const uint8_t file_descriptor[] {
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+0x62,0x06,0x70,0x72,0x6f,0x74,0x6f,0x33,
 };
 static const char file_name[] = "wpimath.proto";
 static const char wpi_proto_ProtobufMatrix_name[] = "wpi.proto.ProtobufMatrix";