WPILibC++ 2024.3.2
ArmFeedforwardStruct.h
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1// Copyright (c) FIRST and other WPILib contributors.
2// Open Source Software; you can modify and/or share it under the terms of
3// the WPILib BSD license file in the root directory of this project.
4
5#pragma once
6
7#include <wpi/SymbolExports.h>
8#include <wpi/struct/Struct.h>
9
11
12template <>
13struct WPILIB_DLLEXPORT wpi::Struct<frc::ArmFeedforward> {
14 static constexpr std::string_view GetTypeString() {
15 return "struct:ArmFeedforward";
16 }
17 static constexpr size_t GetSize() { return 32; }
18 static constexpr std::string_view GetSchema() {
19 return "double ks;double kg;double kv;double ka";
20 }
21
22 static frc::ArmFeedforward Unpack(std::span<const uint8_t> data);
23 static void Pack(std::span<uint8_t> data, const frc::ArmFeedforward& value);
24};
25
#define WPILIB_DLLEXPORT
Definition: SymbolExports.h:36
A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting against ...
Definition: ArmFeedforward.h:21
Specifies that a type is capable of raw struct serialization and deserialization.
Definition: Struct.h:68
basic_string_view< char > string_view
Definition: core.h:501
Definition: ntcore_cpp.h:26
static constexpr std::string_view GetTypeString()
Definition: ArmFeedforwardStruct.h:14
static constexpr std::string_view GetSchema()
Definition: ArmFeedforwardStruct.h:18
static frc::ArmFeedforward Unpack(std::span< const uint8_t > data)
static constexpr size_t GetSize()
Definition: ArmFeedforwardStruct.h:17
static void Pack(std::span< uint8_t > data, const frc::ArmFeedforward &value)