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