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.kinematics.proto;
006
007import edu.wpi.first.math.kinematics.ChassisSpeeds;
008import edu.wpi.first.math.proto.Kinematics.ProtobufChassisSpeeds;
009import edu.wpi.first.util.protobuf.Protobuf;
010import us.hebi.quickbuf.Descriptors.Descriptor;
011
012public class ChassisSpeedsProto implements Protobuf<ChassisSpeeds, ProtobufChassisSpeeds> {
013  @Override
014  public Class<ChassisSpeeds> getTypeClass() {
015    return ChassisSpeeds.class;
016  }
017
018  @Override
019  public Descriptor getDescriptor() {
020    return ProtobufChassisSpeeds.getDescriptor();
021  }
022
023  @Override
024  public ProtobufChassisSpeeds createMessage() {
025    return ProtobufChassisSpeeds.newInstance();
026  }
027
028  @Override
029  public ChassisSpeeds unpack(ProtobufChassisSpeeds msg) {
030    return new ChassisSpeeds(msg.getVx(), msg.getVy(), msg.getOmega());
031  }
032
033  @Override
034  public void pack(ProtobufChassisSpeeds msg, ChassisSpeeds value) {
035    msg.setVx(value.vxMetersPerSecond);
036    msg.setVy(value.vyMetersPerSecond);
037    msg.setOmega(value.omegaRadiansPerSecond);
038  }
039}