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.jni;
006
007/** ArmFeedforward JNI. */
008public final class ArmFeedforwardJNI extends WPIMathJNI {
009  /**
010   * Obtain a feedforward voltage from a single jointed arm feedforward object.
011   *
012   * <p>Constructs an ArmFeedforward object and runs its currentVelocity and nextVelocity overload
013   *
014   * @param ks The ArmFeedforward's static gain in volts.
015   * @param kv The ArmFeedforward's velocity gain in volt seconds per radian.
016   * @param ka The ArmFeedforward's acceleration gain in volt seconds² per radian.
017   * @param kg The ArmFeedforward's gravity gain in volts.
018   * @param currentAngle The current angle in the calculation in radians.
019   * @param currentVelocity The current velocity in the calculation in radians per second.
020   * @param nextVelocity The next velocity in the calculation in radians per second.
021   * @param dt The time between velocity setpoints in seconds.
022   * @return The calculated feedforward in volts.
023   */
024  public static native double calculate(
025      double ks,
026      double kv,
027      double ka,
028      double kg,
029      double currentAngle,
030      double currentVelocity,
031      double nextVelocity,
032      double dt);
033
034  /** Utility class. */
035  private ArmFeedforwardJNI() {}
036}