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.ElevatorFeedforward;
008import edu.wpi.first.math.proto.Controller.ProtobufElevatorFeedforward;
009import edu.wpi.first.util.protobuf.Protobuf;
010import us.hebi.quickbuf.Descriptors.Descriptor;
011
012public class ElevatorFeedforwardProto
013    implements Protobuf<ElevatorFeedforward, ProtobufElevatorFeedforward> {
014  @Override
015  public Class<ElevatorFeedforward> getTypeClass() {
016    return ElevatorFeedforward.class;
017  }
018
019  @Override
020  public Descriptor getDescriptor() {
021    return ProtobufElevatorFeedforward.getDescriptor();
022  }
023
024  @Override
025  public ProtobufElevatorFeedforward createMessage() {
026    return ProtobufElevatorFeedforward.newInstance();
027  }
028
029  @Override
030  public ElevatorFeedforward unpack(ProtobufElevatorFeedforward msg) {
031    return new ElevatorFeedforward(msg.getKs(), msg.getKg(), msg.getKv(), msg.getKa());
032  }
033
034  @Override
035  public void pack(ProtobufElevatorFeedforward msg, ElevatorFeedforward value) {
036    msg.setKs(value.ks);
037    msg.setKg(value.kg);
038    msg.setKv(value.kv);
039    msg.setKa(value.ka);
040  }
041}