defaults:
  subpackage: controller

extra_includes:
- wpi/units/dimensionless.hpp

classes:
  wpi::math::SimpleMotorFeedforward:
    force_type_casters:
    - wpi::units::meters_per_second
    - wpi::units::meters_per_second_squared
    - wpi::units::radians_per_second
    - wpi::units::radians_per_second_squared
    typealias:
    - typename wpi::math::SimpleMotorFeedforward<Distance>::Velocity
    - typename wpi::math::SimpleMotorFeedforward<Distance>::Acceleration
    - typename wpi::math::SimpleMotorFeedforward<Distance>::kv_unit
    - typename wpi::math::SimpleMotorFeedforward<Distance>::ka_unit
    template_params:
    - Distance
    methods:
      SimpleMotorFeedforward:
        overloads:
          '':
          wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
      Calculate:
        overloads:
          wpi::units::unit_t<Velocity> [const]:
          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
      MaxAchievableVelocity:
      MinAchievableVelocity:
      MaxAchievableAcceleration:
      MinAchievableAcceleration:
      GetKs:
      GetKv:
      GetKa:
      GetDt:
      SetKs:
      SetKv:
      SetKa:

templates:
  # Unfortunately this is broken because calculate requires an SI unit
  # SimpleMotorFeedforward:
  #   qualname: wpi::math::SimpleMotorFeedforward
  #   params:
  #     - wpi::units::dimensionless::scalar

  SimpleMotorFeedforwardMeters:
    qualname: wpi::math::SimpleMotorFeedforward
    params:
    - wpi::units::meter

  SimpleMotorFeedforwardRadians:
    qualname: wpi::math::SimpleMotorFeedforward
    params:
    - wpi::units::radian