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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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56
wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
View File

@@ -244,6 +244,34 @@ class WPILIB_DLLEXPORT ArmFeedforward {
return MaxAchievableAcceleration(-maxVoltage, angle, velocity);
}
/**
* Sets the static gain.
*
* @param kS The static gain.
*/
constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
/**
* Sets the gravity gain.
*
* @param kG The gravity gain.
*/
constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
/**
* Sets the velocity gain.
*
* @param kV The velocity gain.
*/
constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
/**
* Sets the acceleration gain.
*
* @param kA The acceleration gain.
*/
constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
/**
* Returns the static gain.
*
@@ -251,13 +279,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
*/
constexpr units::volt_t GetKs() const { return kS; }
/**
* Returns the static gain.
*
* @param kS The static gain.
*/
constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
/**
* Returns the gravity gain.
*
@@ -265,13 +286,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
*/
constexpr units::volt_t GetKg() const { return kG; }
/**
* Returns the gravity gain.
*
* @param kG The gravity gain.
*/
constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
/**
* Returns the velocity gain.
*
@@ -279,13 +293,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
*/
constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
/**
* Returns the velocity gain.
*
* @param kV The velocity gain.
*/
constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
/**
* Returns the acceleration gain.
*
@@ -293,13 +300,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
*/
constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
/**
* Returns the acceleration gain.
*
* @param kA The acceleration gain.
*/
constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
private:
/// The static gain, in volts.
units::volt_t kS;

56
wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
View File

@@ -216,6 +216,34 @@ class ElevatorFeedforward {
return MaxAchievableAcceleration(-maxVoltage, velocity);
}
/**
* Sets the static gain.
*
* @param kS The static gain.
*/
constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
/**
* Sets the gravity gain.
*
* @param kG The gravity gain.
*/
constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
/**
* Sets the velocity gain.
*
* @param kV The velocity gain.
*/
constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
/**
* Sets the acceleration gain.
*
* @param kA The acceleration gain.
*/
constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
/**
* Returns the static gain.
*
@@ -223,13 +251,6 @@ class ElevatorFeedforward {
*/
constexpr units::volt_t GetKs() const { return kS; }
/**
* Returns the static gain.
*
* @param kS The static gain.
*/
constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
/**
* Returns the gravity gain.
*
@@ -237,13 +258,6 @@ class ElevatorFeedforward {
*/
constexpr units::volt_t GetKg() const { return kG; }
/**
* Returns the gravity gain.
*
* @param kG The gravity gain.
*/
constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
/**
* Returns the velocity gain.
*
@@ -251,13 +265,6 @@ class ElevatorFeedforward {
*/
constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
/**
* Returns the velocity gain.
*
* @param kV The velocity gain.
*/
constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
/**
* Returns the acceleration gain.
*
@@ -265,13 +272,6 @@ class ElevatorFeedforward {
*/
constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
/**
* Returns the acceleration gain.
*
* @param kA The acceleration gain.
*/
constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
private:
/// The static gain.
units::volt_t kS;

42
wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
View File

@@ -194,6 +194,27 @@ class SimpleMotorFeedforward {
return MaxAchievableAcceleration(-maxVoltage, velocity);
}
/**
* Sets the static gain.
*
* @param kS The static gain.
*/
constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
/**
* Sets the velocity gain.
*
* @param kV The velocity gain.
*/
constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
/**
* Sets the acceleration gain.
*
* @param kA The acceleration gain.
*/
constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
/**
* Returns the static gain.
*
@@ -201,13 +222,6 @@ class SimpleMotorFeedforward {
*/
constexpr units::volt_t GetKs() const { return kS; }
/**
* Returns the static gain.
*
* @param kS The static gain.
*/
constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
/**
* Returns the velocity gain.
*
@@ -215,13 +229,6 @@ class SimpleMotorFeedforward {
*/
constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
/**
* Returns the velocity gain.
*
* @param kV The velocity gain.
*/
constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
/**
* Returns the acceleration gain.
*
@@ -229,13 +236,6 @@ class SimpleMotorFeedforward {
*/
constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
/**
* Returns the acceleration gain.
*
* @param kA The acceleration gain.
*/
constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
/**
* Returns the period.
*