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.struct;
006
007import edu.wpi.first.math.controller.ArmFeedforward;
008import edu.wpi.first.util.struct.Struct;
009import java.nio.ByteBuffer;
010
011public class ArmFeedforwardStruct implements Struct<ArmFeedforward> {
012  @Override
013  public Class<ArmFeedforward> getTypeClass() {
014    return ArmFeedforward.class;
015  }
016
017  @Override
018  public String getTypeString() {
019    return "struct:ArmFeedforward";
020  }
021
022  @Override
023  public int getSize() {
024    return kSizeDouble * 4;
025  }
026
027  @Override
028  public String getSchema() {
029    return "double ks;double kg;double kv;double ka";
030  }
031
032  @Override
033  public ArmFeedforward unpack(ByteBuffer bb) {
034    double ks = bb.getDouble();
035    double kg = bb.getDouble();
036    double kv = bb.getDouble();
037    double ka = bb.getDouble();
038    return new ArmFeedforward(ks, kg, kv, ka);
039  }
040
041  @Override
042  public void pack(ByteBuffer bb, ArmFeedforward value) {
043    bb.putDouble(value.ks);
044    bb.putDouble(value.kg);
045    bb.putDouble(value.kv);
046    bb.putDouble(value.ka);
047  }
048}