[wpimath] Add setters to Feedforward gains (#7784)

Signed-off-by: Jade Turner <spacey-sooty@proton.me>

wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java

@@ -16,16 +16,16 @@ import edu.wpi.first.util.struct.StructSerializable;
  */
 public class ArmFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain, in volts. */
-  private final double ks;
+  private double ks;
 
   /** The gravity gain, in volts. */
-  private final double kg;
+  private double kg;
 
   /** The velocity gain, in V/(rad/s). */
-  private final double kv;
+  private double kv;
 
   /** The acceleration gain, in V/(rad/s²). */
-  private final double ka;
+  private double ka;
 
   /** The period, in seconds. */
   private final double m_dt;
@@ -95,6 +95,15 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     return ks;
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param ks The static gain in volts.
+   */
+  public void setKs(double ks) {
+    this.ks = ks;
+  }
+
   /**
    * Returns the gravity gain in volts.
    *
@@ -104,6 +113,15 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     return kg;
   }
 
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kg The gravity gain in volts.
+   */
+  public void setKg(double kg) {
+    this.kg = kg;
+  }
+
   /**
    * Returns the velocity gain in V/(rad/s).
    *
@@ -113,6 +131,15 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     return kv;
   }
 
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(rad/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
   /**
    * Returns the acceleration gain in V/(rad/s²).
    *
@@ -122,6 +149,15 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     return ka;
   }
 
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(rad/2²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
   /**
    * Returns the period in seconds.
    *

wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java

@@ -15,16 +15,16 @@ import edu.wpi.first.util.struct.StructSerializable;
  */
 public class ElevatorFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain, in volts. */
-  private final double ks;
+  private double ks;
 
   /** The gravity gain, in volts. */
-  private final double kg;
+  private double kg;
 
   /** The velocity gain, in V/(m/s). */
-  private final double kv;
+  private double kv;
 
   /** The acceleration gain, in V/(m/s²). */
-  private final double ka;
+  private double ka;
 
   /** The period, in seconds. */
   private final double m_dt;
@@ -95,6 +95,15 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     return ks;
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param ks The static gain in volts.
+   */
+  public void setKs(double ks) {
+    this.ks = ks;
+  }
+
   /**
    * Returns the gravity gain in volts.
    *
@@ -104,6 +113,15 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     return kg;
   }
 
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kg The gravity gain in volts.
+   */
+  public void setKg(double kg) {
+    this.kg = kg;
+  }
+
   /**
    * Returns the velocity gain in V/(m/s).
    *
@@ -113,6 +131,15 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     return kv;
   }
 
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(rad/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
   /**
    * Returns the acceleration gain in V/(m/s²).
    *
@@ -122,6 +149,15 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     return ka;
   }
 
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(rad/2²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
   /**
    * Returns the period in seconds.
    *

wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java

@@ -12,13 +12,13 @@ import edu.wpi.first.util.struct.StructSerializable;
 /** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */
 public class SimpleMotorFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain, in volts. */
-  private final double ks;
+  private double ks;
 
   /** The velocity gain, in V/(units/s). */
-  private final double kv;
+  private double kv;
 
   /** The acceleration gain, in V/(units/s²). */
-  private final double ka;
+  private double ka;
 
   /** The period, in seconds. */
   private final double m_dt;
@@ -92,6 +92,15 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
     return ks;
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param ks The static gain in volts.
+   */
+  public void setKs(double ks) {
+    this.ks = ks;
+  }
+
   /**
    * Returns the velocity gain in V/(units/s).
    *
@@ -103,6 +112,15 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
     return kv;
   }
 
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(rad/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
   /**
    * Returns the acceleration gain in V/(units/s²).
    *
@@ -114,6 +132,15 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
     return ka;
   }
 
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(rad/2²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
   /**
    * Returns the period in seconds.
    *