[wpimath] Improve SimpleMotorFeedforward argument names and deprecation message (#7489)

Also roll back SimpleMotorFeedforward unit API until 2027.

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.differentialdrivebot;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -82,10 +79,8 @@ public class Drivetrain {
    * @param speeds The desired wheel speeds.
    */
   public void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
-    final double leftFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.leftMetersPerSecond)).in(Volts);
-    final double rightFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.rightMetersPerSecond)).in(Volts);
+    final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
+    final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
 
     final double leftOutput =
         m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.ComputerVisionUtil;
@@ -142,10 +139,8 @@ public class Drivetrain {
    * @param speeds The desired wheel speeds.
    */
   public void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
-    final double leftFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.leftMetersPerSecond)).in(Volts);
-    final double rightFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.rightMetersPerSecond)).in(Volts);
+    final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
+    final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
 
     final double leftOutput =
         m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.math.trajectory.TrapezoidProfile.State;
@@ -99,18 +96,12 @@ public class DriveSubsystem extends SubsystemBase {
     m_leftLeader.setSetpoint(
         ExampleSmartMotorController.PIDMode.kPosition,
         currentLeft.position,
-        m_feedforward
-                .calculate(
-                    MetersPerSecond.of(currentLeft.velocity), MetersPerSecond.of(nextLeft.velocity))
-                .in(Volts)
+        m_feedforward.calculateWithVelocities(currentLeft.velocity, nextLeft.velocity)
             / RobotController.getBatteryVoltage());
     m_rightLeader.setSetpoint(
         ExampleSmartMotorController.PIDMode.kPosition,
         currentRight.position,
-        m_feedforward
-                .calculate(
-                    MetersPerSecond.of(currentLeft.velocity), MetersPerSecond.of(nextLeft.velocity))
-                .in(Volts)
+        m_feedforward.calculateWithVelocities(currentLeft.velocity, nextLeft.velocity)
             / RobotController.getBatteryVoltage());
   }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialprofile/Robot.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.elevatorexponentialprofile;
 
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.trajectory.ExponentialProfile;
 import edu.wpi.first.wpilibj.Joystick;
@@ -48,7 +45,7 @@ public class Robot extends TimedRobot {
     m_motor.setSetpoint(
         ExampleSmartMotorController.PIDMode.kPosition,
         m_setpoint.position,
-        m_feedforward.calculate(RadiansPerSecond.of(next.velocity)).in(Volts) / 12.0);
+        m_feedforward.calculate(next.velocity) / 12.0);
 
     m_setpoint = next;
   }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.Joystick;
@@ -48,6 +45,6 @@ public class Robot extends TimedRobot {
     m_motor.setSetpoint(
         ExampleSmartMotorController.PIDMode.kPosition,
         m_setpoint.position,
-        m_feedforward.calculate(MetersPerSecond.of(m_setpoint.velocity)).in(Volts) / 12.0);
+        m_feedforward.calculate(m_setpoint.velocity) / 12.0);
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/eventloop/Robot.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.eventloop;
 
-import static edu.wpi.first.units.Units.RPM;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.wpilibj.Encoder;
@@ -67,7 +64,7 @@ public class Robot extends TimedRobot {
         () -> {
           m_shooter.setVoltage(
               m_controller.calculate(m_shooterEncoder.getRate(), SHOT_VELOCITY)
-                  + m_ff.calculate(RPM.of(SHOT_VELOCITY)).in(Volts));
+                  + m_ff.calculate(SHOT_VELOCITY));
         });
 
     // if not, stop

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.flywheelbangbangcontroller;
 
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.BangBangController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.numbers.N1;
@@ -89,8 +86,7 @@ public class Robot extends TimedRobot {
     // Controls a motor with the output of the BangBang controller and a
     // feedforward. The feedforward is reduced slightly to avoid overspeeding
     // the shooter.
-    m_flywheelMotor.setVoltage(
-        bangOutput + 0.9 * m_feedforward.calculate(RadiansPerSecond.of(setpoint)).in(Volts));
+    m_flywheelMotor.setVoltage(bangOutput + 0.9 * m_feedforward.calculate(setpoint));
   }
 
   /** Update our simulation. This should be run every robot loop in simulation. */

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.mecanumbot;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -98,14 +95,10 @@ public class Drivetrain {
    * @param speeds The desired wheel speeds.
    */
   public void setSpeeds(MecanumDriveWheelSpeeds speeds) {
-    final double frontLeftFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.frontLeftMetersPerSecond)).in(Volts);
-    final double frontRightFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.frontRightMetersPerSecond)).in(Volts);
-    final double backLeftFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.rearLeftMetersPerSecond)).in(Volts);
-    final double backRightFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.rearRightMetersPerSecond)).in(Volts);
+    final double frontLeftFeedforward = m_feedforward.calculate(speeds.frontLeftMetersPerSecond);
+    final double frontRightFeedforward = m_feedforward.calculate(speeds.frontRightMetersPerSecond);
+    final double backLeftFeedforward = m_feedforward.calculate(speeds.rearLeftMetersPerSecond);
+    final double backRightFeedforward = m_feedforward.calculate(speeds.rearRightMetersPerSecond);
 
     final double frontLeftOutput =
         m_frontLeftPIDController.calculate(

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
@@ -110,14 +107,10 @@ public class Drivetrain {
    * @param speeds The desired wheel speeds.
    */
   public void setSpeeds(MecanumDriveWheelSpeeds speeds) {
-    final double frontLeftFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.frontLeftMetersPerSecond)).in(Volts);
-    final double frontRightFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.frontRightMetersPerSecond)).in(Volts);
-    final double backLeftFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.rearLeftMetersPerSecond)).in(Volts);
-    final double backRightFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.rearRightMetersPerSecond)).in(Volts);
+    final double frontLeftFeedforward = m_feedforward.calculate(speeds.frontLeftMetersPerSecond);
+    final double frontRightFeedforward = m_feedforward.calculate(speeds.frontRightMetersPerSecond);
+    final double backLeftFeedforward = m_feedforward.calculate(speeds.rearLeftMetersPerSecond);
+    final double backRightFeedforward = m_feedforward.calculate(speeds.rearRightMetersPerSecond);
 
     final double frontLeftOutput =
         m_frontLeftPIDController.calculate(

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
 
-import static edu.wpi.first.units.Units.DegreesPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.epilogue.NotLogged;
 import edu.wpi.first.math.controller.ProfiledPIDController;
@@ -143,9 +140,7 @@ public class Drive extends SubsystemBase {
                     0,
                     m_controller.calculate(m_gyro.getRotation2d().getDegrees(), angleDeg)
                         // Divide feedforward voltage by battery voltage to normalize it to [-1, 1]
-                        + m_feedforward
-                                .calculate(DegreesPerSecond.of(m_controller.getSetpoint().velocity))
-                                .in(Volts)
+                        + m_feedforward.calculate(m_controller.getSetpoint().velocity)
                             / RobotController.getBatteryVoltage()))
         .until(m_controller::atGoal)
         .finallyDo(() -> m_drive.arcadeDrive(0, 0));

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Shooter.java

@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
 
-import static edu.wpi.first.units.Units.RotationsPerSecond;
-import static edu.wpi.first.units.Units.Volts;
 import static edu.wpi.first.wpilibj2.command.Commands.parallel;
 import static edu.wpi.first.wpilibj2.command.Commands.waitUntil;
 
@@ -60,9 +58,7 @@ public class Shooter extends SubsystemBase {
             run(
                 () -> {
                   m_shooterMotor.set(
-                      m_shooterFeedforward
-                              .calculate(RotationsPerSecond.of(setpointRotationsPerSecond))
-                              .in(Volts)
+                      m_shooterFeedforward.calculate(setpointRotationsPerSecond)
                           + m_shooterFeedback.calculate(
                               m_shooterEncoder.getRate(), setpointRotationsPerSecond));
                 }),

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java

@@ -4,9 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -97,10 +94,8 @@ public class Drivetrain {
 
   /** Sets speeds to the drivetrain motors. */
   public void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
-    final double leftFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.leftMetersPerSecond)).in(Volts);
-    final double rightFeedforward =
-        m_feedforward.calculate(MetersPerSecond.of(speeds.rightMetersPerSecond)).in(Volts);
+    final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
+    final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
     double leftOutput =
         m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
     double rightOutput =

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java

@@ -4,10 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.swervebot;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
@@ -127,10 +123,7 @@ public class SwerveModule {
     final double driveOutput =
         m_drivePIDController.calculate(m_driveEncoder.getRate(), desiredState.speedMetersPerSecond);
 
-    final double driveFeedforward =
-        m_driveFeedforward
-            .calculate(MetersPerSecond.of(desiredState.speedMetersPerSecond))
-            .in(Volts);
+    final double driveFeedforward = m_driveFeedforward.calculate(desiredState.speedMetersPerSecond);
 
     // Calculate the turning motor output from the turning PID controller.
     final double turnOutput =
@@ -138,9 +131,7 @@ public class SwerveModule {
             m_turningEncoder.getDistance(), desiredState.angle.getRadians());
 
     final double turnFeedforward =
-        m_turnFeedforward
-            .calculate(RadiansPerSecond.of(m_turningPIDController.getSetpoint().velocity))
-            .in(Volts);
+        m_turnFeedforward.calculate(m_turningPIDController.getSetpoint().velocity);
 
     m_driveMotor.setVoltage(driveOutput + driveFeedforward);
     m_turningMotor.setVoltage(turnOutput + turnFeedforward);

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java

@@ -4,10 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.swervedriveposeestimator;
 
-import static edu.wpi.first.units.Units.MetersPerSecond;
-import static edu.wpi.first.units.Units.RadiansPerSecond;
-import static edu.wpi.first.units.Units.Volts;
-
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.ProfiledPIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
@@ -126,10 +122,7 @@ public class SwerveModule {
     final double driveOutput =
         m_drivePIDController.calculate(m_driveEncoder.getRate(), desiredState.speedMetersPerSecond);
 
-    final double driveFeedforward =
-        m_driveFeedforward
-            .calculate(MetersPerSecond.of(desiredState.speedMetersPerSecond))
-            .in(Volts);
+    final double driveFeedforward = m_driveFeedforward.calculate(desiredState.speedMetersPerSecond);
 
     // Calculate the turning motor output from the turning PID controller.
     final double turnOutput =
@@ -137,9 +130,7 @@ public class SwerveModule {
             m_turningEncoder.getDistance(), desiredState.angle.getRadians());
 
     final double turnFeedforward =
-        m_turnFeedforward
-            .calculate(RadiansPerSecond.of(m_turningPIDController.getSetpoint().velocity))
-            .in(Volts);
+        m_turnFeedforward.calculate(m_turningPIDController.getSetpoint().velocity);
 
     m_driveMotor.setVoltage(driveOutput + driveFeedforward);
     m_turningMotor.setVoltage(turnOutput + turnFeedforward);

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/subsystems/Shooter.java

@@ -95,9 +95,7 @@ public class Shooter extends SubsystemBase {
     return run(() -> {
           m_shooterMotor.setVoltage(
               m_shooterFeedback.calculate(m_shooterEncoder.getRate(), shooterSpeed.getAsDouble())
-                  + m_shooterFeedforward
-                      .calculate(RotationsPerSecond.of(shooterSpeed.getAsDouble()))
-                      .in(Volts));
+                  + m_shooterFeedforward.calculate(shooterSpeed.getAsDouble()));
           m_feederMotor.set(ShooterConstants.kFeederSpeed);
         })
         .finallyDo(