[wpimath] Clean up arm and elevator feedforward APIs (#7595)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java

@@ -110,8 +110,7 @@ public class Elevator implements AutoCloseable {
 
     // With the setpoint value we run PID control like normal
     double pidOutput = m_pidController.calculate(m_encoder.getDistance(), m_setpoint.position);
-    double feedforwardOutput =
-        m_feedforward.calculateWithVelocities(m_setpoint.velocity, next.velocity);
+    double feedforwardOutput = m_feedforward.calculate(m_setpoint.velocity, next.velocity);
 
     m_motor.setVoltage(pidOutput + feedforwardOutput);
 

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

@@ -131,37 +131,18 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     return m_dt;
   }
 
-  /**
-   * Calculates the feedforward from the gains and setpoints.
-   *
-   * @param positionRadians The position (angle) setpoint. This angle should be measured from the
-   *     horizontal (i.e. if the provided angle is 0, the arm should be parallel with the floor). If
-   *     your encoder does not follow this convention, an offset should be added.
-   * @param velocityRadPerSec The velocity setpoint.
-   * @param accelRadPerSecSquared The acceleration setpoint.
-   * @return The computed feedforward.
-   */
-  @Deprecated(forRemoval = true, since = "2025")
-  public double calculate(
-      double positionRadians, double velocityRadPerSec, double accelRadPerSecSquared) {
-    return ks * Math.signum(velocityRadPerSec)
-        + kg * Math.cos(positionRadians)
-        + kv * velocityRadPerSec
-        + ka * accelRadPerSecSquared;
-  }
-
   /**
    * Calculates the feedforward from the gains and velocity setpoint assuming continuous control
    * (acceleration is assumed to be zero).
    *
-   * @param positionRadians The position (angle) setpoint. This angle should be measured from the
+   * @param position The position setpoint in radians. This angle should be measured from the
    *     horizontal (i.e. if the provided angle is 0, the arm should be parallel with the floor). If
    *     your encoder does not follow this convention, an offset should be added.
-   * @param velocity The velocity setpoint.
+   * @param velocity The velocity setpoint in radians per second.
    * @return The computed feedforward.
    */
-  public double calculate(double positionRadians, double velocity) {
-    return calculate(positionRadians, velocity, 0);
+  public double calculate(double position, double velocity) {
+    return ks * Math.signum(velocity) + kg * Math.cos(position) + kv * velocity;
   }
 
   /**
@@ -172,29 +153,9 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
    *     your encoder does not follow this convention, an offset should be added.
    * @param currentVelocity The current velocity setpoint in radians per second.
    * @param nextVelocity The next velocity setpoint in radians per second.
-   * @param dt Time between velocity setpoints in seconds.
    * @return The computed feedforward in volts.
    */
-  @SuppressWarnings("removal")
-  @Deprecated(forRemoval = true, since = "2025")
-  public double calculate(
-      double currentAngle, double currentVelocity, double nextVelocity, double dt) {
-    return ArmFeedforwardJNI.calculate(
-        ks, kv, ka, kg, currentAngle, currentVelocity, nextVelocity, dt);
-  }
-
-  /**
-   * Calculates the feedforward from the gains and setpoints assuming discrete control.
-   *
-   * @param currentAngle The current angle in radians. This angle should be measured from the
-   *     horizontal (i.e. if the provided angle is 0, the arm should be parallel to the floor). If
-   *     your encoder does not follow this convention, an offset should be added.
-   * @param currentVelocity The current velocity setpoint in radians per second.
-   * @param nextVelocity The next velocity setpoint in radians per second.
-   * @return The computed feedforward in volts.
-   */
-  public double calculateWithVelocities(
-      double currentAngle, double currentVelocity, double nextVelocity) {
+  public double calculate(double currentAngle, double currentVelocity, double nextVelocity) {
     return ArmFeedforwardJNI.calculate(
         ks, kv, ka, kg, currentAngle, currentVelocity, nextVelocity, m_dt);
   }

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

@@ -131,28 +131,15 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     return m_dt;
   }
 
-  /**
-   * Calculates the feedforward from the gains and setpoints assuming continuous control.
-   *
-   * @param velocity The velocity setpoint.
-   * @param acceleration The acceleration setpoint.
-   * @return The computed feedforward.
-   */
-  @SuppressWarnings("removal")
-  @Deprecated(forRemoval = true, since = "2025")
-  public double calculate(double velocity, double acceleration) {
-    return ks * Math.signum(velocity) + kg + kv * velocity + ka * acceleration;
-  }
-
   /**
    * Calculates the feedforward from the gains and velocity setpoint assuming continuous control
    * (acceleration is assumed to be zero).
    *
-   * @param velocity The velocity setpoint.
+   * @param velocity The velocity setpoint in meters per second.
    * @return The computed feedforward.
    */
   public double calculate(double velocity) {
-    return calculate(velocity, 0);
+    return calculate(velocity, velocity);
   }
 
   /**
@@ -162,9 +149,9 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
    *
    * @param currentVelocity The current velocity setpoint in meters per second.
    * @param nextVelocity The next velocity setpoint in meters per second.
-   * @return The computed feedforward in volts.
+   * @return The computed feedforward.
    */
-  public double calculateWithVelocities(double currentVelocity, double nextVelocity) {
+  public double calculate(double currentVelocity, double nextVelocity) {
     // See wpimath/algorithms.md#Elevator_feedforward for derivation
     if (ka == 0.0) {
       return ks * Math.signum(nextVelocity) + kg + kv * nextVelocity;

wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java

@@ -68,8 +68,7 @@ class ArmFeedforwardTest {
    */
   private void calculateAndSimulate(
       double currentAngle, double currentVelocity, double nextVelocity, double dt) {
-    final double input =
-        m_armFF.calculateWithVelocities(currentAngle, currentVelocity, nextVelocity);
+    final double input = m_armFF.calculate(currentAngle, currentVelocity, nextVelocity);
     assertEquals(nextVelocity, simulate(currentAngle, currentVelocity, input, dt).get(1, 0), 1e-12);
   }
 

wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java

@@ -36,7 +36,7 @@ class ElevatorFeedforwardTest {
     var nextR = VecBuilder.fill(3.0);
     assertEquals(
         plantInversion.calculate(r, nextR).get(0, 0) + ks + kg,
-        m_elevatorFF.calculateWithVelocities(2.0, 3.0),
+        m_elevatorFF.calculate(2.0, 3.0),
         0.002);
   }