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[wpimath] Disambiguate wpimath JNI functions (#6695)

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Each collection of JNI functions now has its own class.
This commit is contained in:
Tyler Veness
2024-06-05 12:26:58 -07:00
committed by GitHub
parent df4694c9df
commit 5221069bcc
32 changed files with 1038 additions and 543 deletions
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5
wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.math.controller;
import edu.wpi.first.math.WPIMathJNI;
import edu.wpi.first.math.controller.proto.ArmFeedforwardProto;
import edu.wpi.first.math.controller.struct.ArmFeedforwardStruct;
import edu.wpi.first.math.jni.ArmFeedforwardJNI;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
@@ -114,7 +114,8 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
*/
public double calculate(
double currentAngle, double currentVelocity, double nextVelocity, double dt) {
return WPIMathJNI.calculate(ks, kv, ka, kg, currentAngle, currentVelocity, nextVelocity, dt);
return ArmFeedforwardJNI.calculate(
ks, kv, ka, kg, currentAngle, currentVelocity, nextVelocity, dt);
}
// Rearranging the main equation from the calculate() method yields the