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.SimpleMotorFeedforward;
008import edu.wpi.first.util.struct.Struct;
009import java.nio.ByteBuffer;
010
011public final class SimpleMotorFeedforwardStruct implements Struct<SimpleMotorFeedforward> {
012  @Override
013  public Class<SimpleMotorFeedforward> getTypeClass() {
014    return SimpleMotorFeedforward.class;
015  }
016
017  @Override
018  public String getTypeName() {
019    return "SimpleMotorFeedforward";
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 kv;double ka;double dt";
030  }
031
032  @Override
033  public SimpleMotorFeedforward unpack(ByteBuffer bb) {
034    double ks = bb.getDouble();
035    double kv = bb.getDouble();
036    double ka = bb.getDouble();
037    double dt = bb.getDouble();
038    return new SimpleMotorFeedforward(ks, kv, ka, dt);
039  }
040
041  @Override
042  public void pack(ByteBuffer bb, SimpleMotorFeedforward value) {
043    bb.putDouble(value.getKs());
044    bb.putDouble(value.getKv());
045    bb.putDouble(value.getKa());
046    bb.putDouble(value.getDt());
047  }
048}