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}