Merge branch 'main' into 2027

wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java

@@ -124,7 +124,8 @@ public final class LinearSystemId {
    * @param kA The acceleration gain, in volts/(unit/sec²)
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kV < 0 or kA <= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N2, N1, N2> createDCMotorSystem(double kV, double kA) {
     if (kV < 0.0) {
@@ -235,7 +236,8 @@ public final class LinearSystemId {
    * @param kA The acceleration gain, in volts/(unit/sec²)
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
     if (kV < 0.0) {
@@ -268,7 +270,8 @@ public final class LinearSystemId {
    * @param kA The acceleration gain, in volts/(unit/sec²)
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kV &lt; 0 or kA &lt;= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N2, N1, N2> identifyPositionSystem(double kV, double kA) {
     if (kV < 0.0) {
@@ -301,7 +304,8 @@ public final class LinearSystemId {
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kVLinear &lt;= 0, kALinear &lt;= 0, kVAngular &lt;= 0, or
    *     kAAngular &lt;= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
       double kVLinear, double kALinear, double kVAngular, double kAAngular) {
@@ -348,7 +352,8 @@ public final class LinearSystemId {
    * @return A LinearSystem representing the given characterized constants.
    * @throws IllegalArgumentException if kVLinear &lt;= 0, kALinear &lt;= 0, kVAngular &lt;= 0,
    *     kAAngular &lt;= 0, or trackwidth &lt;= 0.
-   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
+   * @see <a
+   *     href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid</a>
    */
   public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
       double kVLinear, double kALinear, double kVAngular, double kAAngular, double trackwidth) {

wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.math.trajectory;
 
+import edu.wpi.first.math.trajectory.struct.ExponentialProfileStateStruct;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /**
@@ -128,7 +130,10 @@ public class ExponentialProfile {
   }
 
   /** Profile state. */
-  public static class State {
+  public static class State implements StructSerializable {
+    /** The struct that serializes this class. */
+    public static final ExponentialProfileStateStruct struct = new ExponentialProfileStateStruct();
+
     /** The position at this state. */
     public double position;
 

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.math.trajectory;
 
 import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.trajectory.struct.TrapezoidProfileStateStruct;
 import java.util.Objects;
 
 /**
@@ -75,6 +76,9 @@ public class TrapezoidProfile {
 
   /** Profile state. */
   public static class State {
+    /** The struct used to serialize this class. */
+    public static final TrapezoidProfileStateStruct struct = new TrapezoidProfileStateStruct();
+
     /** The position at this state. */
     public double position;
 

wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStruct.java

@@ -0,0 +1,42 @@
+// 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.
+
+package edu.wpi.first.math.trajectory.struct;
+
+import edu.wpi.first.math.trajectory.ExponentialProfile;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
+
+public class ExponentialProfileStateStruct implements Struct<ExponentialProfile.State> {
+  @Override
+  public Class<ExponentialProfile.State> getTypeClass() {
+    return ExponentialProfile.State.class;
+  }
+
+  @Override
+  public String getTypeName() {
+    return "ExponentialProfileState";
+  }
+
+  @Override
+  public int getSize() {
+    return kSizeDouble * 2;
+  }
+
+  @Override
+  public String getSchema() {
+    return "double position;double velocity";
+  }
+
+  @Override
+  public ExponentialProfile.State unpack(ByteBuffer bb) {
+    return new ExponentialProfile.State(bb.getDouble(), bb.getDouble());
+  }
+
+  @Override
+  public void pack(ByteBuffer bb, ExponentialProfile.State value) {
+    bb.putDouble(value.position);
+    bb.putDouble(value.velocity);
+  }
+}

wpimath/src/main/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStruct.java

@@ -0,0 +1,42 @@
+// 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.
+
+package edu.wpi.first.math.trajectory.struct;
+
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
+
+public class TrapezoidProfileStateStruct implements Struct<TrapezoidProfile.State> {
+  @Override
+  public Class<TrapezoidProfile.State> getTypeClass() {
+    return TrapezoidProfile.State.class;
+  }
+
+  @Override
+  public String getTypeName() {
+    return "TrapezoidProfileState";
+  }
+
+  @Override
+  public int getSize() {
+    return kSizeDouble * 2;
+  }
+
+  @Override
+  public String getSchema() {
+    return "double position;double velocity";
+  }
+
+  @Override
+  public TrapezoidProfile.State unpack(ByteBuffer bb) {
+    return new TrapezoidProfile.State(bb.getDouble(), bb.getDouble());
+  }
+
+  @Override
+  public void pack(ByteBuffer bb, TrapezoidProfile.State value) {
+    bb.putDouble(value.position);
+    bb.putDouble(value.velocity);
+  }
+}