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

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This commit is contained in:
Joseph Eng
2024-07-20 07:01:56 -07:00
committed by GitHub
parent d827c84c5e
commit b4d42d8980
22 changed files with 288 additions and 94 deletions
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8
wpimath/src/test/java/edu/wpi/first/math/controller/proto/ArmFeedforwardProtoTest.java
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@@ -19,9 +19,9 @@ class ArmFeedforwardProtoTest {
ArmFeedforward.proto.pack(proto, DATA);
ArmFeedforward data = ArmFeedforward.proto.unpack(proto);
assertEquals(DATA.ks, data.ks);
assertEquals(DATA.kg, data.kg);
assertEquals(DATA.kv, data.kv);
assertEquals(DATA.ka, data.ka);
assertEquals(DATA.getKs(), data.getKs());
assertEquals(DATA.getKg(), data.getKg());
assertEquals(DATA.getKv(), data.getKv());
assertEquals(DATA.getKa(), data.getKa());
}
}

8
wpimath/src/test/java/edu/wpi/first/math/controller/proto/ElevatorFeedforwardProtoTest.java
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@@ -19,9 +19,9 @@ class ElevatorFeedforwardProtoTest {
ElevatorFeedforward.proto.pack(proto, DATA);
ElevatorFeedforward data = ElevatorFeedforward.proto.unpack(proto);
assertEquals(DATA.ks, data.ks);
assertEquals(DATA.kg, data.kg);
assertEquals(DATA.kv, data.kv);
assertEquals(DATA.ka, data.ka);
assertEquals(DATA.getKs(), data.getKs());
assertEquals(DATA.getKg(), data.getKg());
assertEquals(DATA.getKv(), data.getKv());
assertEquals(DATA.getKa(), data.getKa());
}
}

8
wpimath/src/test/java/edu/wpi/first/math/controller/struct/ArmFeedforwardStructTest.java
View File

@@ -22,9 +22,9 @@ class ArmFeedforwardStructTest {
buffer.rewind();
ArmFeedforward data = ArmFeedforward.struct.unpack(buffer);
assertEquals(DATA.ks, data.ks);
assertEquals(DATA.kg, data.kg);
assertEquals(DATA.kv, data.kv);
assertEquals(DATA.ka, data.ka);
assertEquals(DATA.getKs(), data.getKs());
assertEquals(DATA.getKg(), data.getKg());
assertEquals(DATA.getKv(), data.getKv());
assertEquals(DATA.getKa(), data.getKa());
}
}

8
wpimath/src/test/java/edu/wpi/first/math/controller/struct/ElevatorFeedforwardStructTest.java
View File

@@ -22,9 +22,9 @@ class ElevatorFeedforwardStructTest {
buffer.rewind();
ElevatorFeedforward data = ElevatorFeedforward.struct.unpack(buffer);
assertEquals(DATA.ks, data.ks);
assertEquals(DATA.kg, data.kg);
assertEquals(DATA.kv, data.kv);
assertEquals(DATA.ka, data.ka);
assertEquals(DATA.getKs(), data.getKs());
assertEquals(DATA.getKg(), data.getKg());
assertEquals(DATA.getKv(), data.getKv());
assertEquals(DATA.getKa(), data.getKa());
}
}