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