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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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21
wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp
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@@ -11,17 +11,22 @@ constexpr size_t kKvAngularOff = kKaLinearOff + 8;
constexpr size_t kKaAngularOff = kKvAngularOff + 8;
} // namespace
wpi::math::DifferentialDriveFeedforward wpi::util::Struct<
wpi::math::DifferentialDriveFeedforward>::Unpack(std::span<const uint8_t> data) {
return {
decltype(1_V / 1_mps){wpi::util::UnpackStruct<double, kKvLinearOff>(data)},
decltype(1_V / 1_mps_sq){wpi::util::UnpackStruct<double, kKaLinearOff>(data)},
decltype(1_V / 1_mps){wpi::util::UnpackStruct<double, kKvAngularOff>(data)},
decltype(1_V / 1_mps_sq){wpi::util::UnpackStruct<double, kKaAngularOff>(data)}};
wpi::math::DifferentialDriveFeedforward
wpi::util::Struct<wpi::math::DifferentialDriveFeedforward>::Unpack(
std::span<const uint8_t> data) {
return {decltype(1_V /
1_mps){wpi::util::UnpackStruct<double, kKvLinearOff>(data)},
decltype(1_V / 1_mps_sq){
wpi::util::UnpackStruct<double, kKaLinearOff>(data)},
decltype(1_V /
1_mps){wpi::util::UnpackStruct<double, kKvAngularOff>(data)},
decltype(1_V / 1_mps_sq){
wpi::util::UnpackStruct<double, kKaAngularOff>(data)}};
}
void wpi::util::Struct<wpi::math::DifferentialDriveFeedforward>::Pack(
std::span<uint8_t> data, const wpi::math::DifferentialDriveFeedforward& value) {
std::span<uint8_t> data,
const wpi::math::DifferentialDriveFeedforward& value) {
wpi::util::PackStruct<kKvLinearOff>(data, value.m_kVLinear.value());
wpi::util::PackStruct<kKaLinearOff>(data, value.m_kALinear.value());
wpi::util::PackStruct<kKvAngularOff>(data, value.m_kVAngular.value());