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.kinematics.proto;
006
007import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
008import edu.wpi.first.math.proto.Kinematics.ProtobufDifferentialDriveWheelSpeeds;
009import edu.wpi.first.util.protobuf.Protobuf;
010import us.hebi.quickbuf.Descriptors.Descriptor;
011
012public class DifferentialDriveWheelSpeedsProto
013    implements Protobuf<DifferentialDriveWheelSpeeds, ProtobufDifferentialDriveWheelSpeeds> {
014  @Override
015  public Class<DifferentialDriveWheelSpeeds> getTypeClass() {
016    return DifferentialDriveWheelSpeeds.class;
017  }
018
019  @Override
020  public Descriptor getDescriptor() {
021    return ProtobufDifferentialDriveWheelSpeeds.getDescriptor();
022  }
023
024  @Override
025  public ProtobufDifferentialDriveWheelSpeeds createMessage() {
026    return ProtobufDifferentialDriveWheelSpeeds.newInstance();
027  }
028
029  @Override
030  public DifferentialDriveWheelSpeeds unpack(ProtobufDifferentialDriveWheelSpeeds msg) {
031    return new DifferentialDriveWheelSpeeds(msg.getLeft(), msg.getRight());
032  }
033
034  @Override
035  public void pack(ProtobufDifferentialDriveWheelSpeeds msg, DifferentialDriveWheelSpeeds value) {
036    msg.setLeft(value.leftMetersPerSecond);
037    msg.setRight(value.rightMetersPerSecond);
038  }
039}