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[wpimath] Fix up order and docs for Feedforward gain setters (#7788)

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This commit is contained in:
Peter Johnson
2025-02-13 23:20:08 -08:00
committed by GitHub
parent 4d126b158c
commit 7e6077c546
6 changed files with 176 additions and 176 deletions
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72
wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
View File

@@ -86,15 +86,6 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
this(ks, kg, kv, 0);
}
/**
* Returns the static gain in volts.
*
* @return The static gain in volts.
*/
public double getKs() {
return ks;
}
/**
* Sets the static gain.
*
@@ -104,15 +95,6 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
this.ks = ks;
}
/**
* Returns the gravity gain in volts.
*
* @return The gravity gain in volts.
*/
public double getKg() {
return kg;
}
/**
* Sets the gravity gain.
*
@@ -122,15 +104,6 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
this.kg = kg;
}
/**
* Returns the velocity gain in V/(rad/s).
*
* @return The velocity gain.
*/
public double getKv() {
return kv;
}
/**
* Sets the velocity gain.
*
@@ -140,6 +113,42 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
this.kv = kv;
}
/**
* Sets the acceleration gain.
*
* @param ka The acceleration gain in V/(rad/s²).
*/
public void setKa(double ka) {
this.ka = ka;
}
/**
* Returns the static gain in volts.
*
* @return The static gain in volts.
*/
public double getKs() {
return ks;
}
/**
* Returns the gravity gain in volts.
*
* @return The gravity gain in volts.
*/
public double getKg() {
return kg;
}
/**
* Returns the velocity gain in V/(rad/s).
*
* @return The velocity gain.
*/
public double getKv() {
return kv;
}
/**
* Returns the acceleration gain in V/(rad/s²).
*
@@ -149,15 +158,6 @@ 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.
*

72
wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
View File

@@ -86,15 +86,6 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
this(ks, kg, kv, 0);
}
/**
* Returns the static gain in volts.
*
* @return The static gain in volts.
*/
public double getKs() {
return ks;
}
/**
* Sets the static gain.
*
@@ -104,15 +95,6 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
this.ks = ks;
}
/**
* Returns the gravity gain in volts.
*
* @return The gravity gain in volts.
*/
public double getKg() {
return kg;
}
/**
* Sets the gravity gain.
*
@@ -122,6 +104,42 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
this.kg = kg;
}
/**
* Sets the velocity gain.
*
* @param kv The velocity gain in V/(m/s).
*/
public void setKv(double kv) {
this.kv = kv;
}
/**
* Sets the acceleration gain.
*
* @param ka The acceleration gain in V/(m/s²).
*/
public void setKa(double ka) {
this.ka = ka;
}
/**
* Returns the static gain in volts.
*
* @return The static gain in volts.
*/
public double getKs() {
return ks;
}
/**
* Returns the gravity gain in volts.
*
* @return The gravity gain in volts.
*/
public double getKg() {
return kg;
}
/**
* Returns the velocity gain in V/(m/s).
*
@@ -131,15 +149,6 @@ 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).
*
@@ -149,15 +158,6 @@ 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.
*

54
wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
View File

@@ -83,15 +83,6 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
this(ks, kv, 0);
}
/**
* Returns the static gain in volts.
*
* @return The static gain in volts.
*/
public double getKs() {
return ks;
}
/**
* Sets the static gain.
*
@@ -101,6 +92,33 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
this.ks = ks;
}
/**
* Sets the velocity gain.
*
* @param kv The velocity gain in V/(units/s).
*/
public void setKv(double kv) {
this.kv = kv;
}
/**
* Sets the acceleration gain.
*
* @param ka The acceleration gain in V/(units/2²).
*/
public void setKa(double ka) {
this.ka = ka;
}
/**
* Returns the static gain in volts.
*
* @return The static gain in volts.
*/
public double getKs() {
return ks;
}
/**
* Returns the velocity gain in V/(units/s).
*
@@ -112,15 +130,6 @@ 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).
*
@@ -132,15 +141,6 @@ 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.
*