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.DifferentialDriveFeedforward;
008import edu.wpi.first.math.proto.Controller.ProtobufDifferentialDriveFeedforward;
009import edu.wpi.first.util.protobuf.Protobuf;
010import us.hebi.quickbuf.Descriptors.Descriptor;
011
012public final class DifferentialDriveFeedforwardProto
013    implements Protobuf<DifferentialDriveFeedforward, ProtobufDifferentialDriveFeedforward> {
014  @Override
015  public Class<DifferentialDriveFeedforward> getTypeClass() {
016    return DifferentialDriveFeedforward.class;
017  }
018
019  @Override
020  public Descriptor getDescriptor() {
021    return ProtobufDifferentialDriveFeedforward.getDescriptor();
022  }
023
024  @Override
025  public ProtobufDifferentialDriveFeedforward createMessage() {
026    return ProtobufDifferentialDriveFeedforward.newInstance();
027  }
028
029  @Override
030  public DifferentialDriveFeedforward unpack(ProtobufDifferentialDriveFeedforward msg) {
031    return new DifferentialDriveFeedforward(
032        msg.getKvLinear(), msg.getKaLinear(), msg.getKvAngular(), msg.getKaAngular());
033  }
034
035  @Override
036  public void pack(ProtobufDifferentialDriveFeedforward msg, DifferentialDriveFeedforward value) {
037    msg.setKvLinear(value.m_kVLinear);
038    msg.setKaLinear(value.m_kALinear);
039    msg.setKvAngular(value.m_kVAngular);
040    msg.setKaAngular(value.m_kAAngular);
041  }
042}