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.struct;
006
007import edu.wpi.first.math.kinematics.DifferentialDriveWheelPositions;
008import edu.wpi.first.util.struct.Struct;
009import java.nio.ByteBuffer;
010
011public class DifferentialDriveWheelPositionsStruct
012    implements Struct<DifferentialDriveWheelPositions> {
013  @Override
014  public Class<DifferentialDriveWheelPositions> getTypeClass() {
015    return DifferentialDriveWheelPositions.class;
016  }
017
018  @Override
019  public String getTypeString() {
020    return "struct:DifferentialDriveWheelPositions";
021  }
022
023  @Override
024  public int getSize() {
025    return kSizeDouble * 2;
026  }
027
028  @Override
029  public String getSchema() {
030    return "double left;double right";
031  }
032
033  @Override
034  public DifferentialDriveWheelPositions unpack(ByteBuffer bb) {
035    double left = bb.getDouble();
036    double right = bb.getDouble();
037    return new DifferentialDriveWheelPositions(left, right);
038  }
039
040  @Override
041  public void pack(ByteBuffer bb, DifferentialDriveWheelPositions value) {
042    bb.putDouble(value.leftMeters);
043    bb.putDouble(value.rightMeters);
044  }
045}