001// Copyright (c) FIRST and other WPILib contributors. 002// Open Source Software; you can modify and/or share it under the terms of 003// the WPILib BSD license file in the root directory of this project. 004 005package edu.wpi.first.math.controller.proto; 006 007import edu.wpi.first.math.controller.DifferentialDriveWheelVoltages; 008import edu.wpi.first.math.proto.Controller.ProtobufDifferentialDriveWheelVoltages; 009import edu.wpi.first.util.protobuf.Protobuf; 010import us.hebi.quickbuf.Descriptors.Descriptor; 011 012public class DifferentialDriveWheelVoltagesProto 013 implements Protobuf<DifferentialDriveWheelVoltages, ProtobufDifferentialDriveWheelVoltages> { 014 @Override 015 public Class<DifferentialDriveWheelVoltages> getTypeClass() { 016 return DifferentialDriveWheelVoltages.class; 017 } 018 019 @Override 020 public Descriptor getDescriptor() { 021 return ProtobufDifferentialDriveWheelVoltages.getDescriptor(); 022 } 023 024 @Override 025 public ProtobufDifferentialDriveWheelVoltages createMessage() { 026 return ProtobufDifferentialDriveWheelVoltages.newInstance(); 027 } 028 029 @Override 030 public DifferentialDriveWheelVoltages unpack(ProtobufDifferentialDriveWheelVoltages msg) { 031 return new DifferentialDriveWheelVoltages(msg.getLeft(), msg.getRight()); 032 } 033 034 @Override 035 public void pack( 036 ProtobufDifferentialDriveWheelVoltages msg, DifferentialDriveWheelVoltages value) { 037 msg.setLeft(value.left); 038 msg.setRight(value.right); 039 } 040}