[wpimath] Make public final values in feedforwards private and add getters (#6851)

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. */
-  public final double ks;
+  private final double ks;
 
   /** The gravity gain, in volts. */
-  public final double kg;
+  private final double kg;
 
-  /** The velocity gain, in volt seconds per radian. */
-  public final double kv;
+  /** The velocity gain, in V/(rad/s). */
+  private final double kv;
 
-  /** The acceleration gain, in volt seconds² per radian. */
-  public final double ka;
+  /** The acceleration gain, in V/(rad/s²). */
+  private final double ka;
 
   /** Arm feedforward protobuf for serialization. */
   public static final ArmFeedforwardProto proto = new ArmFeedforwardProto();
@@ -69,6 +69,42 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     this(ks, kg, kv, 0);
   }
 
+  /**
+   * Returns the static gain.
+   *
+   * @return The static gain, in volts.
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * Returns the gravity gain.
+   *
+   * @return The gravity gain, in volts.
+   */
+  public double getKg() {
+    return kg;
+  }
+
+  /**
+   * Returns the velocity gain.
+   *
+   * @return The velocity gain, in V/(rad/s).
+   */
+  public double getKv() {
+    return kv;
+  }
+
+  /**
+   * Returns the acceleration gain.
+   *
+   * @return The acceleration gain, in V/(rad/s²).
+   */
+  public double getKa() {
+    return ka;
+  }
+
   /**
    * Calculates the feedforward from the gains and setpoints.
    *

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

@@ -18,16 +18,16 @@ import edu.wpi.first.util.struct.StructSerializable;
  */
 public class ElevatorFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain. */
-  public final double ks;
+  private final double ks;
 
   /** The gravity gain. */
-  public final double kg;
+  private final double kg;
 
   /** The velocity gain. */
-  public final double kv;
+  private final double kv;
 
   /** The acceleration gain. */
-  public final double ka;
+  private final double ka;
 
   /** ElevatorFeedforward protobuf for serialization. */
   public static final ElevatorFeedforwardProto proto = new ElevatorFeedforwardProto();
@@ -71,6 +71,42 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     this(ks, kg, kv, 0);
   }
 
+  /**
+   * Returns the static gain.
+   *
+   * @return The static gain.
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * Returns the gravity gain.
+   *
+   * @return The gravity gain.
+   */
+  public double getKg() {
+    return kg;
+  }
+
+  /**
+   * Returns the velocity gain.
+   *
+   * @return The velocity gain.
+   */
+  public double getKv() {
+    return kv;
+  }
+
+  /**
+   * Returns the acceleration gain.
+   *
+   * @return The acceleration gain.
+   */
+  public double getKa() {
+    return ka;
+  }
+
   /**
    * Calculates the feedforward from the gains and setpoints.
    *

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

@@ -14,16 +14,16 @@ import edu.wpi.first.units.Voltage;
 /** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */
 public class SimpleMotorFeedforward {
   /** The static gain. */
-  public final double ks;
+  private final double ks;
 
   /** The velocity gain. */
-  public final double kv;
+  private final double kv;
 
   /** The acceleration gain. */
-  public final double ka;
+  private final double ka;
 
   /** The period. */
-  private double m_dt;
+  private final double m_dt;
 
   /**
    * Creates a new SimpleMotorFeedforward with the specified gains and period. Units of the gain
@@ -80,6 +80,42 @@ public class SimpleMotorFeedforward {
     this(ks, kv, 0, 0.020);
   }
 
+  /**
+   * Returns the static gain.
+   *
+   * @return The static gain.
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * Returns the velocity gain.
+   *
+   * @return The velocity gain.
+   */
+  public double getKv() {
+    return kv;
+  }
+
+  /**
+   * Returns the acceleration gain.
+   *
+   * @return The acceleration gain.
+   */
+  public double getKa() {
+    return ka;
+  }
+
+  /**
+   * Returns the period.
+   *
+   * @return The period in seconds.
+   */
+  public double getDt() {
+    return m_dt;
+  }
+
   /**
    * Calculates the feedforward from the gains and setpoints.
    *

wpimath/src/main/java/edu/wpi/first/math/controller/proto/ArmFeedforwardProto.java

@@ -32,9 +32,9 @@ public class ArmFeedforwardProto implements Protobuf<ArmFeedforward, ProtobufArm
 
   @Override
   public void pack(ProtobufArmFeedforward msg, ArmFeedforward value) {
-    msg.setKs(value.ks);
-    msg.setKg(value.kg);
-    msg.setKv(value.kv);
-    msg.setKa(value.ka);
+    msg.setKs(value.getKs());
+    msg.setKg(value.getKg());
+    msg.setKv(value.getKv());
+    msg.setKa(value.getKa());
   }
 }

wpimath/src/main/java/edu/wpi/first/math/controller/proto/ElevatorFeedforwardProto.java

@@ -33,9 +33,9 @@ public class ElevatorFeedforwardProto
 
   @Override
   public void pack(ProtobufElevatorFeedforward msg, ElevatorFeedforward value) {
-    msg.setKs(value.ks);
-    msg.setKg(value.kg);
-    msg.setKv(value.kv);
-    msg.setKa(value.ka);
+    msg.setKs(value.getKs());
+    msg.setKg(value.getKg());
+    msg.setKv(value.getKv());
+    msg.setKa(value.getKa());
   }
 }

wpimath/src/main/java/edu/wpi/first/math/controller/struct/ArmFeedforwardStruct.java

@@ -40,9 +40,9 @@ public class ArmFeedforwardStruct implements Struct<ArmFeedforward> {
 
   @Override
   public void pack(ByteBuffer bb, ArmFeedforward value) {
-    bb.putDouble(value.ks);
-    bb.putDouble(value.kg);
-    bb.putDouble(value.kv);
-    bb.putDouble(value.ka);
+    bb.putDouble(value.getKs());
+    bb.putDouble(value.getKg());
+    bb.putDouble(value.getKv());
+    bb.putDouble(value.getKa());
   }
 }

wpimath/src/main/java/edu/wpi/first/math/controller/struct/ElevatorFeedforwardStruct.java

@@ -40,9 +40,9 @@ public class ElevatorFeedforwardStruct implements Struct<ElevatorFeedforward> {
 
   @Override
   public void pack(ByteBuffer bb, ElevatorFeedforward value) {
-    bb.putDouble(value.ks);
-    bb.putDouble(value.kg);
-    bb.putDouble(value.kv);
-    bb.putDouble(value.ka);
+    bb.putDouble(value.getKs());
+    bb.putDouble(value.getKg());
+    bb.putDouble(value.getKv());
+    bb.putDouble(value.getKa());
   }
 }