Source code

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// Code generated by protocol buffer compiler. Do not edit!
005package edu.wpi.first.math.proto;
006
007import java.io.IOException;
008import us.hebi.quickbuf.Descriptors;
009import us.hebi.quickbuf.FieldName;
010import us.hebi.quickbuf.InvalidProtocolBufferException;
011import us.hebi.quickbuf.JsonSink;
012import us.hebi.quickbuf.JsonSource;
013import us.hebi.quickbuf.MessageFactory;
014import us.hebi.quickbuf.ProtoMessage;
015import us.hebi.quickbuf.ProtoSink;
016import us.hebi.quickbuf.ProtoSource;
017import us.hebi.quickbuf.ProtoUtil;
018import us.hebi.quickbuf.RepeatedByte;
019
020public final class Controller {
021  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(1684,
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051
052  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("controller.proto", "wpi.proto", descriptorData);
053
054  static final Descriptors.Descriptor wpi_proto_ProtobufArmFeedforward_descriptor = descriptor.internalContainedType(31, 88, "ProtobufArmFeedforward", "wpi.proto.ProtobufArmFeedforward");
055
056  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveFeedforward_descriptor = descriptor.internalContainedType(122, 158, "ProtobufDifferentialDriveFeedforward", "wpi.proto.ProtobufDifferentialDriveFeedforward");
057
058  static final Descriptors.Descriptor wpi_proto_ProtobufElevatorFeedforward_descriptor = descriptor.internalContainedType(282, 93, "ProtobufElevatorFeedforward", "wpi.proto.ProtobufElevatorFeedforward");
059
060  static final Descriptors.Descriptor wpi_proto_ProtobufSimpleMotorFeedforward_descriptor = descriptor.internalContainedType(377, 80, "ProtobufSimpleMotorFeedforward", "wpi.proto.ProtobufSimpleMotorFeedforward");
061
062  static final Descriptors.Descriptor wpi_proto_ProtobufDifferentialDriveWheelVoltages_descriptor = descriptor.internalContainedType(459, 82, "ProtobufDifferentialDriveWheelVoltages", "wpi.proto.ProtobufDifferentialDriveWheelVoltages");
063
064  /**
065   * @return this proto file's descriptor.
066   */
067  public static Descriptors.FileDescriptor getDescriptor() {
068    return descriptor;
069  }
070
071  /**
072   * Protobuf type {@code ProtobufArmFeedforward}
073   */
074  public static final class ProtobufArmFeedforward extends ProtoMessage<ProtobufArmFeedforward> implements Cloneable {
075    private static final long serialVersionUID = 0L;
076
077    /**
078     * <code>optional double ks = 1;</code>
079     */
080    private double ks;
081
082    /**
083     * <code>optional double kg = 2;</code>
084     */
085    private double kg;
086
087    /**
088     * <code>optional double kv = 3;</code>
089     */
090    private double kv;
091
092    /**
093     * <code>optional double ka = 4;</code>
094     */
095    private double ka;
096
097    private ProtobufArmFeedforward() {
098    }
099
100    /**
101     * @return a new empty instance of {@code ProtobufArmFeedforward}
102     */
103    public static ProtobufArmFeedforward newInstance() {
104      return new ProtobufArmFeedforward();
105    }
106
107    /**
108     * <code>optional double ks = 1;</code>
109     * @return whether the ks field is set
110     */
111    public boolean hasKs() {
112      return (bitField0_ & 0x00000001) != 0;
113    }
114
115    /**
116     * <code>optional double ks = 1;</code>
117     * @return this
118     */
119    public ProtobufArmFeedforward clearKs() {
120      bitField0_ &= ~0x00000001;
121      ks = 0D;
122      return this;
123    }
124
125    /**
126     * <code>optional double ks = 1;</code>
127     * @return the ks
128     */
129    public double getKs() {
130      return ks;
131    }
132
133    /**
134     * <code>optional double ks = 1;</code>
135     * @param value the ks to set
136     * @return this
137     */
138    public ProtobufArmFeedforward setKs(final double value) {
139      bitField0_ |= 0x00000001;
140      ks = value;
141      return this;
142    }
143
144    /**
145     * <code>optional double kg = 2;</code>
146     * @return whether the kg field is set
147     */
148    public boolean hasKg() {
149      return (bitField0_ & 0x00000002) != 0;
150    }
151
152    /**
153     * <code>optional double kg = 2;</code>
154     * @return this
155     */
156    public ProtobufArmFeedforward clearKg() {
157      bitField0_ &= ~0x00000002;
158      kg = 0D;
159      return this;
160    }
161
162    /**
163     * <code>optional double kg = 2;</code>
164     * @return the kg
165     */
166    public double getKg() {
167      return kg;
168    }
169
170    /**
171     * <code>optional double kg = 2;</code>
172     * @param value the kg to set
173     * @return this
174     */
175    public ProtobufArmFeedforward setKg(final double value) {
176      bitField0_ |= 0x00000002;
177      kg = value;
178      return this;
179    }
180
181    /**
182     * <code>optional double kv = 3;</code>
183     * @return whether the kv field is set
184     */
185    public boolean hasKv() {
186      return (bitField0_ & 0x00000004) != 0;
187    }
188
189    /**
190     * <code>optional double kv = 3;</code>
191     * @return this
192     */
193    public ProtobufArmFeedforward clearKv() {
194      bitField0_ &= ~0x00000004;
195      kv = 0D;
196      return this;
197    }
198
199    /**
200     * <code>optional double kv = 3;</code>
201     * @return the kv
202     */
203    public double getKv() {
204      return kv;
205    }
206
207    /**
208     * <code>optional double kv = 3;</code>
209     * @param value the kv to set
210     * @return this
211     */
212    public ProtobufArmFeedforward setKv(final double value) {
213      bitField0_ |= 0x00000004;
214      kv = value;
215      return this;
216    }
217
218    /**
219     * <code>optional double ka = 4;</code>
220     * @return whether the ka field is set
221     */
222    public boolean hasKa() {
223      return (bitField0_ & 0x00000008) != 0;
224    }
225
226    /**
227     * <code>optional double ka = 4;</code>
228     * @return this
229     */
230    public ProtobufArmFeedforward clearKa() {
231      bitField0_ &= ~0x00000008;
232      ka = 0D;
233      return this;
234    }
235
236    /**
237     * <code>optional double ka = 4;</code>
238     * @return the ka
239     */
240    public double getKa() {
241      return ka;
242    }
243
244    /**
245     * <code>optional double ka = 4;</code>
246     * @param value the ka to set
247     * @return this
248     */
249    public ProtobufArmFeedforward setKa(final double value) {
250      bitField0_ |= 0x00000008;
251      ka = value;
252      return this;
253    }
254
255    @Override
256    public ProtobufArmFeedforward copyFrom(final ProtobufArmFeedforward other) {
257      cachedSize = other.cachedSize;
258      if ((bitField0_ | other.bitField0_) != 0) {
259        bitField0_ = other.bitField0_;
260        ks = other.ks;
261        kg = other.kg;
262        kv = other.kv;
263        ka = other.ka;
264      }
265      return this;
266    }
267
268    @Override
269    public ProtobufArmFeedforward mergeFrom(final ProtobufArmFeedforward other) {
270      if (other.isEmpty()) {
271        return this;
272      }
273      cachedSize = -1;
274      if (other.hasKs()) {
275        setKs(other.ks);
276      }
277      if (other.hasKg()) {
278        setKg(other.kg);
279      }
280      if (other.hasKv()) {
281        setKv(other.kv);
282      }
283      if (other.hasKa()) {
284        setKa(other.ka);
285      }
286      return this;
287    }
288
289    @Override
290    public ProtobufArmFeedforward clear() {
291      if (isEmpty()) {
292        return this;
293      }
294      cachedSize = -1;
295      bitField0_ = 0;
296      ks = 0D;
297      kg = 0D;
298      kv = 0D;
299      ka = 0D;
300      return this;
301    }
302
303    @Override
304    public ProtobufArmFeedforward clearQuick() {
305      if (isEmpty()) {
306        return this;
307      }
308      cachedSize = -1;
309      bitField0_ = 0;
310      return this;
311    }
312
313    @Override
314    public boolean equals(Object o) {
315      if (o == this) {
316        return true;
317      }
318      if (!(o instanceof ProtobufArmFeedforward)) {
319        return false;
320      }
321      ProtobufArmFeedforward other = (ProtobufArmFeedforward) o;
322      return bitField0_ == other.bitField0_
323        && (!hasKs() || ProtoUtil.isEqual(ks, other.ks))
324        && (!hasKg() || ProtoUtil.isEqual(kg, other.kg))
325        && (!hasKv() || ProtoUtil.isEqual(kv, other.kv))
326        && (!hasKa() || ProtoUtil.isEqual(ka, other.ka));
327    }
328
329    @Override
330    public void writeTo(final ProtoSink output) throws IOException {
331      if ((bitField0_ & 0x00000001) != 0) {
332        output.writeRawByte((byte) 9);
333        output.writeDoubleNoTag(ks);
334      }
335      if ((bitField0_ & 0x00000002) != 0) {
336        output.writeRawByte((byte) 17);
337        output.writeDoubleNoTag(kg);
338      }
339      if ((bitField0_ & 0x00000004) != 0) {
340        output.writeRawByte((byte) 25);
341        output.writeDoubleNoTag(kv);
342      }
343      if ((bitField0_ & 0x00000008) != 0) {
344        output.writeRawByte((byte) 33);
345        output.writeDoubleNoTag(ka);
346      }
347    }
348
349    @Override
350    protected int computeSerializedSize() {
351      int size = 0;
352      if ((bitField0_ & 0x00000001) != 0) {
353        size += 9;
354      }
355      if ((bitField0_ & 0x00000002) != 0) {
356        size += 9;
357      }
358      if ((bitField0_ & 0x00000004) != 0) {
359        size += 9;
360      }
361      if ((bitField0_ & 0x00000008) != 0) {
362        size += 9;
363      }
364      return size;
365    }
366
367    @Override
368    @SuppressWarnings("fallthrough")
369    public ProtobufArmFeedforward mergeFrom(final ProtoSource input) throws IOException {
370      // Enabled Fall-Through Optimization (QuickBuffers)
371      int tag = input.readTag();
372      while (true) {
373        switch (tag) {
374          case 9: {
375            // ks
376            ks = input.readDouble();
377            bitField0_ |= 0x00000001;
378            tag = input.readTag();
379            if (tag != 17) {
380              break;
381            }
382          }
383          case 17: {
384            // kg
385            kg = input.readDouble();
386            bitField0_ |= 0x00000002;
387            tag = input.readTag();
388            if (tag != 25) {
389              break;
390            }
391          }
392          case 25: {
393            // kv
394            kv = input.readDouble();
395            bitField0_ |= 0x00000004;
396            tag = input.readTag();
397            if (tag != 33) {
398              break;
399            }
400          }
401          case 33: {
402            // ka
403            ka = input.readDouble();
404            bitField0_ |= 0x00000008;
405            tag = input.readTag();
406            if (tag != 0) {
407              break;
408            }
409          }
410          case 0: {
411            return this;
412          }
413          default: {
414            if (!input.skipField(tag)) {
415              return this;
416            }
417            tag = input.readTag();
418            break;
419          }
420        }
421      }
422    }
423
424    @Override
425    public void writeTo(final JsonSink output) throws IOException {
426      output.beginObject();
427      if ((bitField0_ & 0x00000001) != 0) {
428        output.writeDouble(FieldNames.ks, ks);
429      }
430      if ((bitField0_ & 0x00000002) != 0) {
431        output.writeDouble(FieldNames.kg, kg);
432      }
433      if ((bitField0_ & 0x00000004) != 0) {
434        output.writeDouble(FieldNames.kv, kv);
435      }
436      if ((bitField0_ & 0x00000008) != 0) {
437        output.writeDouble(FieldNames.ka, ka);
438      }
439      output.endObject();
440    }
441
442    @Override
443    public ProtobufArmFeedforward mergeFrom(final JsonSource input) throws IOException {
444      if (!input.beginObject()) {
445        return this;
446      }
447      while (!input.isAtEnd()) {
448        switch (input.readFieldHash()) {
449          case 3432: {
450            if (input.isAtField(FieldNames.ks)) {
451              if (!input.trySkipNullValue()) {
452                ks = input.readDouble();
453                bitField0_ |= 0x00000001;
454              }
455            } else {
456              input.skipUnknownField();
457            }
458            break;
459          }
460          case 3420: {
461            if (input.isAtField(FieldNames.kg)) {
462              if (!input.trySkipNullValue()) {
463                kg = input.readDouble();
464                bitField0_ |= 0x00000002;
465              }
466            } else {
467              input.skipUnknownField();
468            }
469            break;
470          }
471          case 3435: {
472            if (input.isAtField(FieldNames.kv)) {
473              if (!input.trySkipNullValue()) {
474                kv = input.readDouble();
475                bitField0_ |= 0x00000004;
476              }
477            } else {
478              input.skipUnknownField();
479            }
480            break;
481          }
482          case 3414: {
483            if (input.isAtField(FieldNames.ka)) {
484              if (!input.trySkipNullValue()) {
485                ka = input.readDouble();
486                bitField0_ |= 0x00000008;
487              }
488            } else {
489              input.skipUnknownField();
490            }
491            break;
492          }
493          default: {
494            input.skipUnknownField();
495            break;
496          }
497        }
498      }
499      input.endObject();
500      return this;
501    }
502
503    @Override
504    public ProtobufArmFeedforward clone() {
505      return new ProtobufArmFeedforward().copyFrom(this);
506    }
507
508    @Override
509    public boolean isEmpty() {
510      return ((bitField0_) == 0);
511    }
512
513    public static ProtobufArmFeedforward parseFrom(final byte[] data) throws
514        InvalidProtocolBufferException {
515      return ProtoMessage.mergeFrom(new ProtobufArmFeedforward(), data).checkInitialized();
516    }
517
518    public static ProtobufArmFeedforward parseFrom(final ProtoSource input) throws IOException {
519      return ProtoMessage.mergeFrom(new ProtobufArmFeedforward(), input).checkInitialized();
520    }
521
522    public static ProtobufArmFeedforward parseFrom(final JsonSource input) throws IOException {
523      return ProtoMessage.mergeFrom(new ProtobufArmFeedforward(), input).checkInitialized();
524    }
525
526    /**
527     * @return factory for creating ProtobufArmFeedforward messages
528     */
529    public static MessageFactory<ProtobufArmFeedforward> getFactory() {
530      return ProtobufArmFeedforwardFactory.INSTANCE;
531    }
532
533    /**
534     * @return this type's descriptor.
535     */
536    public static Descriptors.Descriptor getDescriptor() {
537      return Controller.wpi_proto_ProtobufArmFeedforward_descriptor;
538    }
539
540    private enum ProtobufArmFeedforwardFactory implements MessageFactory<ProtobufArmFeedforward> {
541      INSTANCE;
542
543      @Override
544      public ProtobufArmFeedforward create() {
545        return ProtobufArmFeedforward.newInstance();
546      }
547    }
548
549    /**
550     * Contains name constants used for serializing JSON
551     */
552    static class FieldNames {
553      static final FieldName ks = FieldName.forField("ks");
554
555      static final FieldName kg = FieldName.forField("kg");
556
557      static final FieldName kv = FieldName.forField("kv");
558
559      static final FieldName ka = FieldName.forField("ka");
560    }
561  }
562
563  /**
564   * Protobuf type {@code ProtobufDifferentialDriveFeedforward}
565   */
566  public static final class ProtobufDifferentialDriveFeedforward extends ProtoMessage<ProtobufDifferentialDriveFeedforward> implements Cloneable {
567    private static final long serialVersionUID = 0L;
568
569    /**
570     * <code>optional double kv_linear = 1;</code>
571     */
572    private double kvLinear;
573
574    /**
575     * <code>optional double ka_linear = 2;</code>
576     */
577    private double kaLinear;
578
579    /**
580     * <code>optional double kv_angular = 3;</code>
581     */
582    private double kvAngular;
583
584    /**
585     * <code>optional double ka_angular = 4;</code>
586     */
587    private double kaAngular;
588
589    private ProtobufDifferentialDriveFeedforward() {
590    }
591
592    /**
593     * @return a new empty instance of {@code ProtobufDifferentialDriveFeedforward}
594     */
595    public static ProtobufDifferentialDriveFeedforward newInstance() {
596      return new ProtobufDifferentialDriveFeedforward();
597    }
598
599    /**
600     * <code>optional double kv_linear = 1;</code>
601     * @return whether the kvLinear field is set
602     */
603    public boolean hasKvLinear() {
604      return (bitField0_ & 0x00000001) != 0;
605    }
606
607    /**
608     * <code>optional double kv_linear = 1;</code>
609     * @return this
610     */
611    public ProtobufDifferentialDriveFeedforward clearKvLinear() {
612      bitField0_ &= ~0x00000001;
613      kvLinear = 0D;
614      return this;
615    }
616
617    /**
618     * <code>optional double kv_linear = 1;</code>
619     * @return the kvLinear
620     */
621    public double getKvLinear() {
622      return kvLinear;
623    }
624
625    /**
626     * <code>optional double kv_linear = 1;</code>
627     * @param value the kvLinear to set
628     * @return this
629     */
630    public ProtobufDifferentialDriveFeedforward setKvLinear(final double value) {
631      bitField0_ |= 0x00000001;
632      kvLinear = value;
633      return this;
634    }
635
636    /**
637     * <code>optional double ka_linear = 2;</code>
638     * @return whether the kaLinear field is set
639     */
640    public boolean hasKaLinear() {
641      return (bitField0_ & 0x00000002) != 0;
642    }
643
644    /**
645     * <code>optional double ka_linear = 2;</code>
646     * @return this
647     */
648    public ProtobufDifferentialDriveFeedforward clearKaLinear() {
649      bitField0_ &= ~0x00000002;
650      kaLinear = 0D;
651      return this;
652    }
653
654    /**
655     * <code>optional double ka_linear = 2;</code>
656     * @return the kaLinear
657     */
658    public double getKaLinear() {
659      return kaLinear;
660    }
661
662    /**
663     * <code>optional double ka_linear = 2;</code>
664     * @param value the kaLinear to set
665     * @return this
666     */
667    public ProtobufDifferentialDriveFeedforward setKaLinear(final double value) {
668      bitField0_ |= 0x00000002;
669      kaLinear = value;
670      return this;
671    }
672
673    /**
674     * <code>optional double kv_angular = 3;</code>
675     * @return whether the kvAngular field is set
676     */
677    public boolean hasKvAngular() {
678      return (bitField0_ & 0x00000004) != 0;
679    }
680
681    /**
682     * <code>optional double kv_angular = 3;</code>
683     * @return this
684     */
685    public ProtobufDifferentialDriveFeedforward clearKvAngular() {
686      bitField0_ &= ~0x00000004;
687      kvAngular = 0D;
688      return this;
689    }
690
691    /**
692     * <code>optional double kv_angular = 3;</code>
693     * @return the kvAngular
694     */
695    public double getKvAngular() {
696      return kvAngular;
697    }
698
699    /**
700     * <code>optional double kv_angular = 3;</code>
701     * @param value the kvAngular to set
702     * @return this
703     */
704    public ProtobufDifferentialDriveFeedforward setKvAngular(final double value) {
705      bitField0_ |= 0x00000004;
706      kvAngular = value;
707      return this;
708    }
709
710    /**
711     * <code>optional double ka_angular = 4;</code>
712     * @return whether the kaAngular field is set
713     */
714    public boolean hasKaAngular() {
715      return (bitField0_ & 0x00000008) != 0;
716    }
717
718    /**
719     * <code>optional double ka_angular = 4;</code>
720     * @return this
721     */
722    public ProtobufDifferentialDriveFeedforward clearKaAngular() {
723      bitField0_ &= ~0x00000008;
724      kaAngular = 0D;
725      return this;
726    }
727
728    /**
729     * <code>optional double ka_angular = 4;</code>
730     * @return the kaAngular
731     */
732    public double getKaAngular() {
733      return kaAngular;
734    }
735
736    /**
737     * <code>optional double ka_angular = 4;</code>
738     * @param value the kaAngular to set
739     * @return this
740     */
741    public ProtobufDifferentialDriveFeedforward setKaAngular(final double value) {
742      bitField0_ |= 0x00000008;
743      kaAngular = value;
744      return this;
745    }
746
747    @Override
748    public ProtobufDifferentialDriveFeedforward copyFrom(
749        final ProtobufDifferentialDriveFeedforward other) {
750      cachedSize = other.cachedSize;
751      if ((bitField0_ | other.bitField0_) != 0) {
752        bitField0_ = other.bitField0_;
753        kvLinear = other.kvLinear;
754        kaLinear = other.kaLinear;
755        kvAngular = other.kvAngular;
756        kaAngular = other.kaAngular;
757      }
758      return this;
759    }
760
761    @Override
762    public ProtobufDifferentialDriveFeedforward mergeFrom(
763        final ProtobufDifferentialDriveFeedforward other) {
764      if (other.isEmpty()) {
765        return this;
766      }
767      cachedSize = -1;
768      if (other.hasKvLinear()) {
769        setKvLinear(other.kvLinear);
770      }
771      if (other.hasKaLinear()) {
772        setKaLinear(other.kaLinear);
773      }
774      if (other.hasKvAngular()) {
775        setKvAngular(other.kvAngular);
776      }
777      if (other.hasKaAngular()) {
778        setKaAngular(other.kaAngular);
779      }
780      return this;
781    }
782
783    @Override
784    public ProtobufDifferentialDriveFeedforward clear() {
785      if (isEmpty()) {
786        return this;
787      }
788      cachedSize = -1;
789      bitField0_ = 0;
790      kvLinear = 0D;
791      kaLinear = 0D;
792      kvAngular = 0D;
793      kaAngular = 0D;
794      return this;
795    }
796
797    @Override
798    public ProtobufDifferentialDriveFeedforward clearQuick() {
799      if (isEmpty()) {
800        return this;
801      }
802      cachedSize = -1;
803      bitField0_ = 0;
804      return this;
805    }
806
807    @Override
808    public boolean equals(Object o) {
809      if (o == this) {
810        return true;
811      }
812      if (!(o instanceof ProtobufDifferentialDriveFeedforward)) {
813        return false;
814      }
815      ProtobufDifferentialDriveFeedforward other = (ProtobufDifferentialDriveFeedforward) o;
816      return bitField0_ == other.bitField0_
817        && (!hasKvLinear() || ProtoUtil.isEqual(kvLinear, other.kvLinear))
818        && (!hasKaLinear() || ProtoUtil.isEqual(kaLinear, other.kaLinear))
819        && (!hasKvAngular() || ProtoUtil.isEqual(kvAngular, other.kvAngular))
820        && (!hasKaAngular() || ProtoUtil.isEqual(kaAngular, other.kaAngular));
821    }
822
823    @Override
824    public void writeTo(final ProtoSink output) throws IOException {
825      if ((bitField0_ & 0x00000001) != 0) {
826        output.writeRawByte((byte) 9);
827        output.writeDoubleNoTag(kvLinear);
828      }
829      if ((bitField0_ & 0x00000002) != 0) {
830        output.writeRawByte((byte) 17);
831        output.writeDoubleNoTag(kaLinear);
832      }
833      if ((bitField0_ & 0x00000004) != 0) {
834        output.writeRawByte((byte) 25);
835        output.writeDoubleNoTag(kvAngular);
836      }
837      if ((bitField0_ & 0x00000008) != 0) {
838        output.writeRawByte((byte) 33);
839        output.writeDoubleNoTag(kaAngular);
840      }
841    }
842
843    @Override
844    protected int computeSerializedSize() {
845      int size = 0;
846      if ((bitField0_ & 0x00000001) != 0) {
847        size += 9;
848      }
849      if ((bitField0_ & 0x00000002) != 0) {
850        size += 9;
851      }
852      if ((bitField0_ & 0x00000004) != 0) {
853        size += 9;
854      }
855      if ((bitField0_ & 0x00000008) != 0) {
856        size += 9;
857      }
858      return size;
859    }
860
861    @Override
862    @SuppressWarnings("fallthrough")
863    public ProtobufDifferentialDriveFeedforward mergeFrom(final ProtoSource input) throws
864        IOException {
865      // Enabled Fall-Through Optimization (QuickBuffers)
866      int tag = input.readTag();
867      while (true) {
868        switch (tag) {
869          case 9: {
870            // kvLinear
871            kvLinear = input.readDouble();
872            bitField0_ |= 0x00000001;
873            tag = input.readTag();
874            if (tag != 17) {
875              break;
876            }
877          }
878          case 17: {
879            // kaLinear
880            kaLinear = input.readDouble();
881            bitField0_ |= 0x00000002;
882            tag = input.readTag();
883            if (tag != 25) {
884              break;
885            }
886          }
887          case 25: {
888            // kvAngular
889            kvAngular = input.readDouble();
890            bitField0_ |= 0x00000004;
891            tag = input.readTag();
892            if (tag != 33) {
893              break;
894            }
895          }
896          case 33: {
897            // kaAngular
898            kaAngular = input.readDouble();
899            bitField0_ |= 0x00000008;
900            tag = input.readTag();
901            if (tag != 0) {
902              break;
903            }
904          }
905          case 0: {
906            return this;
907          }
908          default: {
909            if (!input.skipField(tag)) {
910              return this;
911            }
912            tag = input.readTag();
913            break;
914          }
915        }
916      }
917    }
918
919    @Override
920    public void writeTo(final JsonSink output) throws IOException {
921      output.beginObject();
922      if ((bitField0_ & 0x00000001) != 0) {
923        output.writeDouble(FieldNames.kvLinear, kvLinear);
924      }
925      if ((bitField0_ & 0x00000002) != 0) {
926        output.writeDouble(FieldNames.kaLinear, kaLinear);
927      }
928      if ((bitField0_ & 0x00000004) != 0) {
929        output.writeDouble(FieldNames.kvAngular, kvAngular);
930      }
931      if ((bitField0_ & 0x00000008) != 0) {
932        output.writeDouble(FieldNames.kaAngular, kaAngular);
933      }
934      output.endObject();
935    }
936
937    @Override
938    public ProtobufDifferentialDriveFeedforward mergeFrom(final JsonSource input) throws
939        IOException {
940      if (!input.beginObject()) {
941        return this;
942      }
943      while (!input.isAtEnd()) {
944        switch (input.readFieldHash()) {
945          case 1424526448:
946          case 974889081: {
947            if (input.isAtField(FieldNames.kvLinear)) {
948              if (!input.trySkipNullValue()) {
949                kvLinear = input.readDouble();
950                bitField0_ |= 0x00000001;
951              }
952            } else {
953              input.skipUnknownField();
954            }
955            break;
956          }
957          case -33181669:
958          case -1264389586: {
959            if (input.isAtField(FieldNames.kaLinear)) {
960              if (!input.trySkipNullValue()) {
961                kaLinear = input.readDouble();
962                bitField0_ |= 0x00000002;
963              }
964            } else {
965              input.skipUnknownField();
966            }
967            break;
968          }
969          case 175208951:
970          case -878647538: {
971            if (input.isAtField(FieldNames.kvAngular)) {
972              if (!input.trySkipNullValue()) {
973                kvAngular = input.readDouble();
974                bitField0_ |= 0x00000004;
975              }
976            } else {
977              input.skipUnknownField();
978            }
979            break;
980          }
981          case -2064069716:
982          case -1576809479: {
983            if (input.isAtField(FieldNames.kaAngular)) {
984              if (!input.trySkipNullValue()) {
985                kaAngular = input.readDouble();
986                bitField0_ |= 0x00000008;
987              }
988            } else {
989              input.skipUnknownField();
990            }
991            break;
992          }
993          default: {
994            input.skipUnknownField();
995            break;
996          }
997        }
998      }
999      input.endObject();
1000      return this;
1001    }
1002
1003    @Override
1004    public ProtobufDifferentialDriveFeedforward clone() {
1005      return new ProtobufDifferentialDriveFeedforward().copyFrom(this);
1006    }
1007
1008    @Override
1009    public boolean isEmpty() {
1010      return ((bitField0_) == 0);
1011    }
1012
1013    public static ProtobufDifferentialDriveFeedforward parseFrom(final byte[] data) throws
1014        InvalidProtocolBufferException {
1015      return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveFeedforward(), data).checkInitialized();
1016    }
1017
1018    public static ProtobufDifferentialDriveFeedforward parseFrom(final ProtoSource input) throws
1019        IOException {
1020      return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveFeedforward(), input).checkInitialized();
1021    }
1022
1023    public static ProtobufDifferentialDriveFeedforward parseFrom(final JsonSource input) throws
1024        IOException {
1025      return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveFeedforward(), input).checkInitialized();
1026    }
1027
1028    /**
1029     * @return factory for creating ProtobufDifferentialDriveFeedforward messages
1030     */
1031    public static MessageFactory<ProtobufDifferentialDriveFeedforward> getFactory() {
1032      return ProtobufDifferentialDriveFeedforwardFactory.INSTANCE;
1033    }
1034
1035    /**
1036     * @return this type's descriptor.
1037     */
1038    public static Descriptors.Descriptor getDescriptor() {
1039      return Controller.wpi_proto_ProtobufDifferentialDriveFeedforward_descriptor;
1040    }
1041
1042    private enum ProtobufDifferentialDriveFeedforwardFactory implements MessageFactory<ProtobufDifferentialDriveFeedforward> {
1043      INSTANCE;
1044
1045      @Override
1046      public ProtobufDifferentialDriveFeedforward create() {
1047        return ProtobufDifferentialDriveFeedforward.newInstance();
1048      }
1049    }
1050
1051    /**
1052     * Contains name constants used for serializing JSON
1053     */
1054    static class FieldNames {
1055      static final FieldName kvLinear = FieldName.forField("kvLinear", "kv_linear");
1056
1057      static final FieldName kaLinear = FieldName.forField("kaLinear", "ka_linear");
1058
1059      static final FieldName kvAngular = FieldName.forField("kvAngular", "kv_angular");
1060
1061      static final FieldName kaAngular = FieldName.forField("kaAngular", "ka_angular");
1062    }
1063  }
1064
1065  /**
1066   * Protobuf type {@code ProtobufElevatorFeedforward}
1067   */
1068  public static final class ProtobufElevatorFeedforward extends ProtoMessage<ProtobufElevatorFeedforward> implements Cloneable {
1069    private static final long serialVersionUID = 0L;
1070
1071    /**
1072     * <code>optional double ks = 1;</code>
1073     */
1074    private double ks;
1075
1076    /**
1077     * <code>optional double kg = 2;</code>
1078     */
1079    private double kg;
1080
1081    /**
1082     * <code>optional double kv = 3;</code>
1083     */
1084    private double kv;
1085
1086    /**
1087     * <code>optional double ka = 4;</code>
1088     */
1089    private double ka;
1090
1091    private ProtobufElevatorFeedforward() {
1092    }
1093
1094    /**
1095     * @return a new empty instance of {@code ProtobufElevatorFeedforward}
1096     */
1097    public static ProtobufElevatorFeedforward newInstance() {
1098      return new ProtobufElevatorFeedforward();
1099    }
1100
1101    /**
1102     * <code>optional double ks = 1;</code>
1103     * @return whether the ks field is set
1104     */
1105    public boolean hasKs() {
1106      return (bitField0_ & 0x00000001) != 0;
1107    }
1108
1109    /**
1110     * <code>optional double ks = 1;</code>
1111     * @return this
1112     */
1113    public ProtobufElevatorFeedforward clearKs() {
1114      bitField0_ &= ~0x00000001;
1115      ks = 0D;
1116      return this;
1117    }
1118
1119    /**
1120     * <code>optional double ks = 1;</code>
1121     * @return the ks
1122     */
1123    public double getKs() {
1124      return ks;
1125    }
1126
1127    /**
1128     * <code>optional double ks = 1;</code>
1129     * @param value the ks to set
1130     * @return this
1131     */
1132    public ProtobufElevatorFeedforward setKs(final double value) {
1133      bitField0_ |= 0x00000001;
1134      ks = value;
1135      return this;
1136    }
1137
1138    /**
1139     * <code>optional double kg = 2;</code>
1140     * @return whether the kg field is set
1141     */
1142    public boolean hasKg() {
1143      return (bitField0_ & 0x00000002) != 0;
1144    }
1145
1146    /**
1147     * <code>optional double kg = 2;</code>
1148     * @return this
1149     */
1150    public ProtobufElevatorFeedforward clearKg() {
1151      bitField0_ &= ~0x00000002;
1152      kg = 0D;
1153      return this;
1154    }
1155
1156    /**
1157     * <code>optional double kg = 2;</code>
1158     * @return the kg
1159     */
1160    public double getKg() {
1161      return kg;
1162    }
1163
1164    /**
1165     * <code>optional double kg = 2;</code>
1166     * @param value the kg to set
1167     * @return this
1168     */
1169    public ProtobufElevatorFeedforward setKg(final double value) {
1170      bitField0_ |= 0x00000002;
1171      kg = value;
1172      return this;
1173    }
1174
1175    /**
1176     * <code>optional double kv = 3;</code>
1177     * @return whether the kv field is set
1178     */
1179    public boolean hasKv() {
1180      return (bitField0_ & 0x00000004) != 0;
1181    }
1182
1183    /**
1184     * <code>optional double kv = 3;</code>
1185     * @return this
1186     */
1187    public ProtobufElevatorFeedforward clearKv() {
1188      bitField0_ &= ~0x00000004;
1189      kv = 0D;
1190      return this;
1191    }
1192
1193    /**
1194     * <code>optional double kv = 3;</code>
1195     * @return the kv
1196     */
1197    public double getKv() {
1198      return kv;
1199    }
1200
1201    /**
1202     * <code>optional double kv = 3;</code>
1203     * @param value the kv to set
1204     * @return this
1205     */
1206    public ProtobufElevatorFeedforward setKv(final double value) {
1207      bitField0_ |= 0x00000004;
1208      kv = value;
1209      return this;
1210    }
1211
1212    /**
1213     * <code>optional double ka = 4;</code>
1214     * @return whether the ka field is set
1215     */
1216    public boolean hasKa() {
1217      return (bitField0_ & 0x00000008) != 0;
1218    }
1219
1220    /**
1221     * <code>optional double ka = 4;</code>
1222     * @return this
1223     */
1224    public ProtobufElevatorFeedforward clearKa() {
1225      bitField0_ &= ~0x00000008;
1226      ka = 0D;
1227      return this;
1228    }
1229
1230    /**
1231     * <code>optional double ka = 4;</code>
1232     * @return the ka
1233     */
1234    public double getKa() {
1235      return ka;
1236    }
1237
1238    /**
1239     * <code>optional double ka = 4;</code>
1240     * @param value the ka to set
1241     * @return this
1242     */
1243    public ProtobufElevatorFeedforward setKa(final double value) {
1244      bitField0_ |= 0x00000008;
1245      ka = value;
1246      return this;
1247    }
1248
1249    @Override
1250    public ProtobufElevatorFeedforward copyFrom(final ProtobufElevatorFeedforward other) {
1251      cachedSize = other.cachedSize;
1252      if ((bitField0_ | other.bitField0_) != 0) {
1253        bitField0_ = other.bitField0_;
1254        ks = other.ks;
1255        kg = other.kg;
1256        kv = other.kv;
1257        ka = other.ka;
1258      }
1259      return this;
1260    }
1261
1262    @Override
1263    public ProtobufElevatorFeedforward mergeFrom(final ProtobufElevatorFeedforward other) {
1264      if (other.isEmpty()) {
1265        return this;
1266      }
1267      cachedSize = -1;
1268      if (other.hasKs()) {
1269        setKs(other.ks);
1270      }
1271      if (other.hasKg()) {
1272        setKg(other.kg);
1273      }
1274      if (other.hasKv()) {
1275        setKv(other.kv);
1276      }
1277      if (other.hasKa()) {
1278        setKa(other.ka);
1279      }
1280      return this;
1281    }
1282
1283    @Override
1284    public ProtobufElevatorFeedforward clear() {
1285      if (isEmpty()) {
1286        return this;
1287      }
1288      cachedSize = -1;
1289      bitField0_ = 0;
1290      ks = 0D;
1291      kg = 0D;
1292      kv = 0D;
1293      ka = 0D;
1294      return this;
1295    }
1296
1297    @Override
1298    public ProtobufElevatorFeedforward clearQuick() {
1299      if (isEmpty()) {
1300        return this;
1301      }
1302      cachedSize = -1;
1303      bitField0_ = 0;
1304      return this;
1305    }
1306
1307    @Override
1308    public boolean equals(Object o) {
1309      if (o == this) {
1310        return true;
1311      }
1312      if (!(o instanceof ProtobufElevatorFeedforward)) {
1313        return false;
1314      }
1315      ProtobufElevatorFeedforward other = (ProtobufElevatorFeedforward) o;
1316      return bitField0_ == other.bitField0_
1317        && (!hasKs() || ProtoUtil.isEqual(ks, other.ks))
1318        && (!hasKg() || ProtoUtil.isEqual(kg, other.kg))
1319        && (!hasKv() || ProtoUtil.isEqual(kv, other.kv))
1320        && (!hasKa() || ProtoUtil.isEqual(ka, other.ka));
1321    }
1322
1323    @Override
1324    public void writeTo(final ProtoSink output) throws IOException {
1325      if ((bitField0_ & 0x00000001) != 0) {
1326        output.writeRawByte((byte) 9);
1327        output.writeDoubleNoTag(ks);
1328      }
1329      if ((bitField0_ & 0x00000002) != 0) {
1330        output.writeRawByte((byte) 17);
1331        output.writeDoubleNoTag(kg);
1332      }
1333      if ((bitField0_ & 0x00000004) != 0) {
1334        output.writeRawByte((byte) 25);
1335        output.writeDoubleNoTag(kv);
1336      }
1337      if ((bitField0_ & 0x00000008) != 0) {
1338        output.writeRawByte((byte) 33);
1339        output.writeDoubleNoTag(ka);
1340      }
1341    }
1342
1343    @Override
1344    protected int computeSerializedSize() {
1345      int size = 0;
1346      if ((bitField0_ & 0x00000001) != 0) {
1347        size += 9;
1348      }
1349      if ((bitField0_ & 0x00000002) != 0) {
1350        size += 9;
1351      }
1352      if ((bitField0_ & 0x00000004) != 0) {
1353        size += 9;
1354      }
1355      if ((bitField0_ & 0x00000008) != 0) {
1356        size += 9;
1357      }
1358      return size;
1359    }
1360
1361    @Override
1362    @SuppressWarnings("fallthrough")
1363    public ProtobufElevatorFeedforward mergeFrom(final ProtoSource input) throws IOException {
1364      // Enabled Fall-Through Optimization (QuickBuffers)
1365      int tag = input.readTag();
1366      while (true) {
1367        switch (tag) {
1368          case 9: {
1369            // ks
1370            ks = input.readDouble();
1371            bitField0_ |= 0x00000001;
1372            tag = input.readTag();
1373            if (tag != 17) {
1374              break;
1375            }
1376          }
1377          case 17: {
1378            // kg
1379            kg = input.readDouble();
1380            bitField0_ |= 0x00000002;
1381            tag = input.readTag();
1382            if (tag != 25) {
1383              break;
1384            }
1385          }
1386          case 25: {
1387            // kv
1388            kv = input.readDouble();
1389            bitField0_ |= 0x00000004;
1390            tag = input.readTag();
1391            if (tag != 33) {
1392              break;
1393            }
1394          }
1395          case 33: {
1396            // ka
1397            ka = input.readDouble();
1398            bitField0_ |= 0x00000008;
1399            tag = input.readTag();
1400            if (tag != 0) {
1401              break;
1402            }
1403          }
1404          case 0: {
1405            return this;
1406          }
1407          default: {
1408            if (!input.skipField(tag)) {
1409              return this;
1410            }
1411            tag = input.readTag();
1412            break;
1413          }
1414        }
1415      }
1416    }
1417
1418    @Override
1419    public void writeTo(final JsonSink output) throws IOException {
1420      output.beginObject();
1421      if ((bitField0_ & 0x00000001) != 0) {
1422        output.writeDouble(FieldNames.ks, ks);
1423      }
1424      if ((bitField0_ & 0x00000002) != 0) {
1425        output.writeDouble(FieldNames.kg, kg);
1426      }
1427      if ((bitField0_ & 0x00000004) != 0) {
1428        output.writeDouble(FieldNames.kv, kv);
1429      }
1430      if ((bitField0_ & 0x00000008) != 0) {
1431        output.writeDouble(FieldNames.ka, ka);
1432      }
1433      output.endObject();
1434    }
1435
1436    @Override
1437    public ProtobufElevatorFeedforward mergeFrom(final JsonSource input) throws IOException {
1438      if (!input.beginObject()) {
1439        return this;
1440      }
1441      while (!input.isAtEnd()) {
1442        switch (input.readFieldHash()) {
1443          case 3432: {
1444            if (input.isAtField(FieldNames.ks)) {
1445              if (!input.trySkipNullValue()) {
1446                ks = input.readDouble();
1447                bitField0_ |= 0x00000001;
1448              }
1449            } else {
1450              input.skipUnknownField();
1451            }
1452            break;
1453          }
1454          case 3420: {
1455            if (input.isAtField(FieldNames.kg)) {
1456              if (!input.trySkipNullValue()) {
1457                kg = input.readDouble();
1458                bitField0_ |= 0x00000002;
1459              }
1460            } else {
1461              input.skipUnknownField();
1462            }
1463            break;
1464          }
1465          case 3435: {
1466            if (input.isAtField(FieldNames.kv)) {
1467              if (!input.trySkipNullValue()) {
1468                kv = input.readDouble();
1469                bitField0_ |= 0x00000004;
1470              }
1471            } else {
1472              input.skipUnknownField();
1473            }
1474            break;
1475          }
1476          case 3414: {
1477            if (input.isAtField(FieldNames.ka)) {
1478              if (!input.trySkipNullValue()) {
1479                ka = input.readDouble();
1480                bitField0_ |= 0x00000008;
1481              }
1482            } else {
1483              input.skipUnknownField();
1484            }
1485            break;
1486          }
1487          default: {
1488            input.skipUnknownField();
1489            break;
1490          }
1491        }
1492      }
1493      input.endObject();
1494      return this;
1495    }
1496
1497    @Override
1498    public ProtobufElevatorFeedforward clone() {
1499      return new ProtobufElevatorFeedforward().copyFrom(this);
1500    }
1501
1502    @Override
1503    public boolean isEmpty() {
1504      return ((bitField0_) == 0);
1505    }
1506
1507    public static ProtobufElevatorFeedforward parseFrom(final byte[] data) throws
1508        InvalidProtocolBufferException {
1509      return ProtoMessage.mergeFrom(new ProtobufElevatorFeedforward(), data).checkInitialized();
1510    }
1511
1512    public static ProtobufElevatorFeedforward parseFrom(final ProtoSource input) throws
1513        IOException {
1514      return ProtoMessage.mergeFrom(new ProtobufElevatorFeedforward(), input).checkInitialized();
1515    }
1516
1517    public static ProtobufElevatorFeedforward parseFrom(final JsonSource input) throws IOException {
1518      return ProtoMessage.mergeFrom(new ProtobufElevatorFeedforward(), input).checkInitialized();
1519    }
1520
1521    /**
1522     * @return factory for creating ProtobufElevatorFeedforward messages
1523     */
1524    public static MessageFactory<ProtobufElevatorFeedforward> getFactory() {
1525      return ProtobufElevatorFeedforwardFactory.INSTANCE;
1526    }
1527
1528    /**
1529     * @return this type's descriptor.
1530     */
1531    public static Descriptors.Descriptor getDescriptor() {
1532      return Controller.wpi_proto_ProtobufElevatorFeedforward_descriptor;
1533    }
1534
1535    private enum ProtobufElevatorFeedforwardFactory implements MessageFactory<ProtobufElevatorFeedforward> {
1536      INSTANCE;
1537
1538      @Override
1539      public ProtobufElevatorFeedforward create() {
1540        return ProtobufElevatorFeedforward.newInstance();
1541      }
1542    }
1543
1544    /**
1545     * Contains name constants used for serializing JSON
1546     */
1547    static class FieldNames {
1548      static final FieldName ks = FieldName.forField("ks");
1549
1550      static final FieldName kg = FieldName.forField("kg");
1551
1552      static final FieldName kv = FieldName.forField("kv");
1553
1554      static final FieldName ka = FieldName.forField("ka");
1555    }
1556  }
1557
1558  /**
1559   * Protobuf type {@code ProtobufSimpleMotorFeedforward}
1560   */
1561  public static final class ProtobufSimpleMotorFeedforward extends ProtoMessage<ProtobufSimpleMotorFeedforward> implements Cloneable {
1562    private static final long serialVersionUID = 0L;
1563
1564    /**
1565     * <code>optional double ks = 1;</code>
1566     */
1567    private double ks;
1568
1569    /**
1570     * <code>optional double kv = 2;</code>
1571     */
1572    private double kv;
1573
1574    /**
1575     * <code>optional double ka = 3;</code>
1576     */
1577    private double ka;
1578
1579    private ProtobufSimpleMotorFeedforward() {
1580    }
1581
1582    /**
1583     * @return a new empty instance of {@code ProtobufSimpleMotorFeedforward}
1584     */
1585    public static ProtobufSimpleMotorFeedforward newInstance() {
1586      return new ProtobufSimpleMotorFeedforward();
1587    }
1588
1589    /**
1590     * <code>optional double ks = 1;</code>
1591     * @return whether the ks field is set
1592     */
1593    public boolean hasKs() {
1594      return (bitField0_ & 0x00000001) != 0;
1595    }
1596
1597    /**
1598     * <code>optional double ks = 1;</code>
1599     * @return this
1600     */
1601    public ProtobufSimpleMotorFeedforward clearKs() {
1602      bitField0_ &= ~0x00000001;
1603      ks = 0D;
1604      return this;
1605    }
1606
1607    /**
1608     * <code>optional double ks = 1;</code>
1609     * @return the ks
1610     */
1611    public double getKs() {
1612      return ks;
1613    }
1614
1615    /**
1616     * <code>optional double ks = 1;</code>
1617     * @param value the ks to set
1618     * @return this
1619     */
1620    public ProtobufSimpleMotorFeedforward setKs(final double value) {
1621      bitField0_ |= 0x00000001;
1622      ks = value;
1623      return this;
1624    }
1625
1626    /**
1627     * <code>optional double kv = 2;</code>
1628     * @return whether the kv field is set
1629     */
1630    public boolean hasKv() {
1631      return (bitField0_ & 0x00000002) != 0;
1632    }
1633
1634    /**
1635     * <code>optional double kv = 2;</code>
1636     * @return this
1637     */
1638    public ProtobufSimpleMotorFeedforward clearKv() {
1639      bitField0_ &= ~0x00000002;
1640      kv = 0D;
1641      return this;
1642    }
1643
1644    /**
1645     * <code>optional double kv = 2;</code>
1646     * @return the kv
1647     */
1648    public double getKv() {
1649      return kv;
1650    }
1651
1652    /**
1653     * <code>optional double kv = 2;</code>
1654     * @param value the kv to set
1655     * @return this
1656     */
1657    public ProtobufSimpleMotorFeedforward setKv(final double value) {
1658      bitField0_ |= 0x00000002;
1659      kv = value;
1660      return this;
1661    }
1662
1663    /**
1664     * <code>optional double ka = 3;</code>
1665     * @return whether the ka field is set
1666     */
1667    public boolean hasKa() {
1668      return (bitField0_ & 0x00000004) != 0;
1669    }
1670
1671    /**
1672     * <code>optional double ka = 3;</code>
1673     * @return this
1674     */
1675    public ProtobufSimpleMotorFeedforward clearKa() {
1676      bitField0_ &= ~0x00000004;
1677      ka = 0D;
1678      return this;
1679    }
1680
1681    /**
1682     * <code>optional double ka = 3;</code>
1683     * @return the ka
1684     */
1685    public double getKa() {
1686      return ka;
1687    }
1688
1689    /**
1690     * <code>optional double ka = 3;</code>
1691     * @param value the ka to set
1692     * @return this
1693     */
1694    public ProtobufSimpleMotorFeedforward setKa(final double value) {
1695      bitField0_ |= 0x00000004;
1696      ka = value;
1697      return this;
1698    }
1699
1700    @Override
1701    public ProtobufSimpleMotorFeedforward copyFrom(final ProtobufSimpleMotorFeedforward other) {
1702      cachedSize = other.cachedSize;
1703      if ((bitField0_ | other.bitField0_) != 0) {
1704        bitField0_ = other.bitField0_;
1705        ks = other.ks;
1706        kv = other.kv;
1707        ka = other.ka;
1708      }
1709      return this;
1710    }
1711
1712    @Override
1713    public ProtobufSimpleMotorFeedforward mergeFrom(final ProtobufSimpleMotorFeedforward other) {
1714      if (other.isEmpty()) {
1715        return this;
1716      }
1717      cachedSize = -1;
1718      if (other.hasKs()) {
1719        setKs(other.ks);
1720      }
1721      if (other.hasKv()) {
1722        setKv(other.kv);
1723      }
1724      if (other.hasKa()) {
1725        setKa(other.ka);
1726      }
1727      return this;
1728    }
1729
1730    @Override
1731    public ProtobufSimpleMotorFeedforward clear() {
1732      if (isEmpty()) {
1733        return this;
1734      }
1735      cachedSize = -1;
1736      bitField0_ = 0;
1737      ks = 0D;
1738      kv = 0D;
1739      ka = 0D;
1740      return this;
1741    }
1742
1743    @Override
1744    public ProtobufSimpleMotorFeedforward clearQuick() {
1745      if (isEmpty()) {
1746        return this;
1747      }
1748      cachedSize = -1;
1749      bitField0_ = 0;
1750      return this;
1751    }
1752
1753    @Override
1754    public boolean equals(Object o) {
1755      if (o == this) {
1756        return true;
1757      }
1758      if (!(o instanceof ProtobufSimpleMotorFeedforward)) {
1759        return false;
1760      }
1761      ProtobufSimpleMotorFeedforward other = (ProtobufSimpleMotorFeedforward) o;
1762      return bitField0_ == other.bitField0_
1763        && (!hasKs() || ProtoUtil.isEqual(ks, other.ks))
1764        && (!hasKv() || ProtoUtil.isEqual(kv, other.kv))
1765        && (!hasKa() || ProtoUtil.isEqual(ka, other.ka));
1766    }
1767
1768    @Override
1769    public void writeTo(final ProtoSink output) throws IOException {
1770      if ((bitField0_ & 0x00000001) != 0) {
1771        output.writeRawByte((byte) 9);
1772        output.writeDoubleNoTag(ks);
1773      }
1774      if ((bitField0_ & 0x00000002) != 0) {
1775        output.writeRawByte((byte) 17);
1776        output.writeDoubleNoTag(kv);
1777      }
1778      if ((bitField0_ & 0x00000004) != 0) {
1779        output.writeRawByte((byte) 25);
1780        output.writeDoubleNoTag(ka);
1781      }
1782    }
1783
1784    @Override
1785    protected int computeSerializedSize() {
1786      int size = 0;
1787      if ((bitField0_ & 0x00000001) != 0) {
1788        size += 9;
1789      }
1790      if ((bitField0_ & 0x00000002) != 0) {
1791        size += 9;
1792      }
1793      if ((bitField0_ & 0x00000004) != 0) {
1794        size += 9;
1795      }
1796      return size;
1797    }
1798
1799    @Override
1800    @SuppressWarnings("fallthrough")
1801    public ProtobufSimpleMotorFeedforward mergeFrom(final ProtoSource input) throws IOException {
1802      // Enabled Fall-Through Optimization (QuickBuffers)
1803      int tag = input.readTag();
1804      while (true) {
1805        switch (tag) {
1806          case 9: {
1807            // ks
1808            ks = input.readDouble();
1809            bitField0_ |= 0x00000001;
1810            tag = input.readTag();
1811            if (tag != 17) {
1812              break;
1813            }
1814          }
1815          case 17: {
1816            // kv
1817            kv = input.readDouble();
1818            bitField0_ |= 0x00000002;
1819            tag = input.readTag();
1820            if (tag != 25) {
1821              break;
1822            }
1823          }
1824          case 25: {
1825            // ka
1826            ka = input.readDouble();
1827            bitField0_ |= 0x00000004;
1828            tag = input.readTag();
1829            if (tag != 0) {
1830              break;
1831            }
1832          }
1833          case 0: {
1834            return this;
1835          }
1836          default: {
1837            if (!input.skipField(tag)) {
1838              return this;
1839            }
1840            tag = input.readTag();
1841            break;
1842          }
1843        }
1844      }
1845    }
1846
1847    @Override
1848    public void writeTo(final JsonSink output) throws IOException {
1849      output.beginObject();
1850      if ((bitField0_ & 0x00000001) != 0) {
1851        output.writeDouble(FieldNames.ks, ks);
1852      }
1853      if ((bitField0_ & 0x00000002) != 0) {
1854        output.writeDouble(FieldNames.kv, kv);
1855      }
1856      if ((bitField0_ & 0x00000004) != 0) {
1857        output.writeDouble(FieldNames.ka, ka);
1858      }
1859      output.endObject();
1860    }
1861
1862    @Override
1863    public ProtobufSimpleMotorFeedforward mergeFrom(final JsonSource input) throws IOException {
1864      if (!input.beginObject()) {
1865        return this;
1866      }
1867      while (!input.isAtEnd()) {
1868        switch (input.readFieldHash()) {
1869          case 3432: {
1870            if (input.isAtField(FieldNames.ks)) {
1871              if (!input.trySkipNullValue()) {
1872                ks = input.readDouble();
1873                bitField0_ |= 0x00000001;
1874              }
1875            } else {
1876              input.skipUnknownField();
1877            }
1878            break;
1879          }
1880          case 3435: {
1881            if (input.isAtField(FieldNames.kv)) {
1882              if (!input.trySkipNullValue()) {
1883                kv = input.readDouble();
1884                bitField0_ |= 0x00000002;
1885              }
1886            } else {
1887              input.skipUnknownField();
1888            }
1889            break;
1890          }
1891          case 3414: {
1892            if (input.isAtField(FieldNames.ka)) {
1893              if (!input.trySkipNullValue()) {
1894                ka = input.readDouble();
1895                bitField0_ |= 0x00000004;
1896              }
1897            } else {
1898              input.skipUnknownField();
1899            }
1900            break;
1901          }
1902          default: {
1903            input.skipUnknownField();
1904            break;
1905          }
1906        }
1907      }
1908      input.endObject();
1909      return this;
1910    }
1911
1912    @Override
1913    public ProtobufSimpleMotorFeedforward clone() {
1914      return new ProtobufSimpleMotorFeedforward().copyFrom(this);
1915    }
1916
1917    @Override
1918    public boolean isEmpty() {
1919      return ((bitField0_) == 0);
1920    }
1921
1922    public static ProtobufSimpleMotorFeedforward parseFrom(final byte[] data) throws
1923        InvalidProtocolBufferException {
1924      return ProtoMessage.mergeFrom(new ProtobufSimpleMotorFeedforward(), data).checkInitialized();
1925    }
1926
1927    public static ProtobufSimpleMotorFeedforward parseFrom(final ProtoSource input) throws
1928        IOException {
1929      return ProtoMessage.mergeFrom(new ProtobufSimpleMotorFeedforward(), input).checkInitialized();
1930    }
1931
1932    public static ProtobufSimpleMotorFeedforward parseFrom(final JsonSource input) throws
1933        IOException {
1934      return ProtoMessage.mergeFrom(new ProtobufSimpleMotorFeedforward(), input).checkInitialized();
1935    }
1936
1937    /**
1938     * @return factory for creating ProtobufSimpleMotorFeedforward messages
1939     */
1940    public static MessageFactory<ProtobufSimpleMotorFeedforward> getFactory() {
1941      return ProtobufSimpleMotorFeedforwardFactory.INSTANCE;
1942    }
1943
1944    /**
1945     * @return this type's descriptor.
1946     */
1947    public static Descriptors.Descriptor getDescriptor() {
1948      return Controller.wpi_proto_ProtobufSimpleMotorFeedforward_descriptor;
1949    }
1950
1951    private enum ProtobufSimpleMotorFeedforwardFactory implements MessageFactory<ProtobufSimpleMotorFeedforward> {
1952      INSTANCE;
1953
1954      @Override
1955      public ProtobufSimpleMotorFeedforward create() {
1956        return ProtobufSimpleMotorFeedforward.newInstance();
1957      }
1958    }
1959
1960    /**
1961     * Contains name constants used for serializing JSON
1962     */
1963    static class FieldNames {
1964      static final FieldName ks = FieldName.forField("ks");
1965
1966      static final FieldName kv = FieldName.forField("kv");
1967
1968      static final FieldName ka = FieldName.forField("ka");
1969    }
1970  }
1971
1972  /**
1973   * Protobuf type {@code ProtobufDifferentialDriveWheelVoltages}
1974   */
1975  public static final class ProtobufDifferentialDriveWheelVoltages extends ProtoMessage<ProtobufDifferentialDriveWheelVoltages> implements Cloneable {
1976    private static final long serialVersionUID = 0L;
1977
1978    /**
1979     * <code>optional double left = 1;</code>
1980     */
1981    private double left;
1982
1983    /**
1984     * <code>optional double right = 2;</code>
1985     */
1986    private double right;
1987
1988    private ProtobufDifferentialDriveWheelVoltages() {
1989    }
1990
1991    /**
1992     * @return a new empty instance of {@code ProtobufDifferentialDriveWheelVoltages}
1993     */
1994    public static ProtobufDifferentialDriveWheelVoltages newInstance() {
1995      return new ProtobufDifferentialDriveWheelVoltages();
1996    }
1997
1998    /**
1999     * <code>optional double left = 1;</code>
2000     * @return whether the left field is set
2001     */
2002    public boolean hasLeft() {
2003      return (bitField0_ & 0x00000001) != 0;
2004    }
2005
2006    /**
2007     * <code>optional double left = 1;</code>
2008     * @return this
2009     */
2010    public ProtobufDifferentialDriveWheelVoltages clearLeft() {
2011      bitField0_ &= ~0x00000001;
2012      left = 0D;
2013      return this;
2014    }
2015
2016    /**
2017     * <code>optional double left = 1;</code>
2018     * @return the left
2019     */
2020    public double getLeft() {
2021      return left;
2022    }
2023
2024    /**
2025     * <code>optional double left = 1;</code>
2026     * @param value the left to set
2027     * @return this
2028     */
2029    public ProtobufDifferentialDriveWheelVoltages setLeft(final double value) {
2030      bitField0_ |= 0x00000001;
2031      left = value;
2032      return this;
2033    }
2034
2035    /**
2036     * <code>optional double right = 2;</code>
2037     * @return whether the right field is set
2038     */
2039    public boolean hasRight() {
2040      return (bitField0_ & 0x00000002) != 0;
2041    }
2042
2043    /**
2044     * <code>optional double right = 2;</code>
2045     * @return this
2046     */
2047    public ProtobufDifferentialDriveWheelVoltages clearRight() {
2048      bitField0_ &= ~0x00000002;
2049      right = 0D;
2050      return this;
2051    }
2052
2053    /**
2054     * <code>optional double right = 2;</code>
2055     * @return the right
2056     */
2057    public double getRight() {
2058      return right;
2059    }
2060
2061    /**
2062     * <code>optional double right = 2;</code>
2063     * @param value the right to set
2064     * @return this
2065     */
2066    public ProtobufDifferentialDriveWheelVoltages setRight(final double value) {
2067      bitField0_ |= 0x00000002;
2068      right = value;
2069      return this;
2070    }
2071
2072    @Override
2073    public ProtobufDifferentialDriveWheelVoltages copyFrom(
2074        final ProtobufDifferentialDriveWheelVoltages other) {
2075      cachedSize = other.cachedSize;
2076      if ((bitField0_ | other.bitField0_) != 0) {
2077        bitField0_ = other.bitField0_;
2078        left = other.left;
2079        right = other.right;
2080      }
2081      return this;
2082    }
2083
2084    @Override
2085    public ProtobufDifferentialDriveWheelVoltages mergeFrom(
2086        final ProtobufDifferentialDriveWheelVoltages other) {
2087      if (other.isEmpty()) {
2088        return this;
2089      }
2090      cachedSize = -1;
2091      if (other.hasLeft()) {
2092        setLeft(other.left);
2093      }
2094      if (other.hasRight()) {
2095        setRight(other.right);
2096      }
2097      return this;
2098    }
2099
2100    @Override
2101    public ProtobufDifferentialDriveWheelVoltages clear() {
2102      if (isEmpty()) {
2103        return this;
2104      }
2105      cachedSize = -1;
2106      bitField0_ = 0;
2107      left = 0D;
2108      right = 0D;
2109      return this;
2110    }
2111
2112    @Override
2113    public ProtobufDifferentialDriveWheelVoltages clearQuick() {
2114      if (isEmpty()) {
2115        return this;
2116      }
2117      cachedSize = -1;
2118      bitField0_ = 0;
2119      return this;
2120    }
2121
2122    @Override
2123    public boolean equals(Object o) {
2124      if (o == this) {
2125        return true;
2126      }
2127      if (!(o instanceof ProtobufDifferentialDriveWheelVoltages)) {
2128        return false;
2129      }
2130      ProtobufDifferentialDriveWheelVoltages other = (ProtobufDifferentialDriveWheelVoltages) o;
2131      return bitField0_ == other.bitField0_
2132        && (!hasLeft() || ProtoUtil.isEqual(left, other.left))
2133        && (!hasRight() || ProtoUtil.isEqual(right, other.right));
2134    }
2135
2136    @Override
2137    public void writeTo(final ProtoSink output) throws IOException {
2138      if ((bitField0_ & 0x00000001) != 0) {
2139        output.writeRawByte((byte) 9);
2140        output.writeDoubleNoTag(left);
2141      }
2142      if ((bitField0_ & 0x00000002) != 0) {
2143        output.writeRawByte((byte) 17);
2144        output.writeDoubleNoTag(right);
2145      }
2146    }
2147
2148    @Override
2149    protected int computeSerializedSize() {
2150      int size = 0;
2151      if ((bitField0_ & 0x00000001) != 0) {
2152        size += 9;
2153      }
2154      if ((bitField0_ & 0x00000002) != 0) {
2155        size += 9;
2156      }
2157      return size;
2158    }
2159
2160    @Override
2161    @SuppressWarnings("fallthrough")
2162    public ProtobufDifferentialDriveWheelVoltages mergeFrom(final ProtoSource input) throws
2163        IOException {
2164      // Enabled Fall-Through Optimization (QuickBuffers)
2165      int tag = input.readTag();
2166      while (true) {
2167        switch (tag) {
2168          case 9: {
2169            // left
2170            left = input.readDouble();
2171            bitField0_ |= 0x00000001;
2172            tag = input.readTag();
2173            if (tag != 17) {
2174              break;
2175            }
2176          }
2177          case 17: {
2178            // right
2179            right = input.readDouble();
2180            bitField0_ |= 0x00000002;
2181            tag = input.readTag();
2182            if (tag != 0) {
2183              break;
2184            }
2185          }
2186          case 0: {
2187            return this;
2188          }
2189          default: {
2190            if (!input.skipField(tag)) {
2191              return this;
2192            }
2193            tag = input.readTag();
2194            break;
2195          }
2196        }
2197      }
2198    }
2199
2200    @Override
2201    public void writeTo(final JsonSink output) throws IOException {
2202      output.beginObject();
2203      if ((bitField0_ & 0x00000001) != 0) {
2204        output.writeDouble(FieldNames.left, left);
2205      }
2206      if ((bitField0_ & 0x00000002) != 0) {
2207        output.writeDouble(FieldNames.right, right);
2208      }
2209      output.endObject();
2210    }
2211
2212    @Override
2213    public ProtobufDifferentialDriveWheelVoltages mergeFrom(final JsonSource input) throws
2214        IOException {
2215      if (!input.beginObject()) {
2216        return this;
2217      }
2218      while (!input.isAtEnd()) {
2219        switch (input.readFieldHash()) {
2220          case 3317767: {
2221            if (input.isAtField(FieldNames.left)) {
2222              if (!input.trySkipNullValue()) {
2223                left = input.readDouble();
2224                bitField0_ |= 0x00000001;
2225              }
2226            } else {
2227              input.skipUnknownField();
2228            }
2229            break;
2230          }
2231          case 108511772: {
2232            if (input.isAtField(FieldNames.right)) {
2233              if (!input.trySkipNullValue()) {
2234                right = input.readDouble();
2235                bitField0_ |= 0x00000002;
2236              }
2237            } else {
2238              input.skipUnknownField();
2239            }
2240            break;
2241          }
2242          default: {
2243            input.skipUnknownField();
2244            break;
2245          }
2246        }
2247      }
2248      input.endObject();
2249      return this;
2250    }
2251
2252    @Override
2253    public ProtobufDifferentialDriveWheelVoltages clone() {
2254      return new ProtobufDifferentialDriveWheelVoltages().copyFrom(this);
2255    }
2256
2257    @Override
2258    public boolean isEmpty() {
2259      return ((bitField0_) == 0);
2260    }
2261
2262    public static ProtobufDifferentialDriveWheelVoltages parseFrom(final byte[] data) throws
2263        InvalidProtocolBufferException {
2264      return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelVoltages(), data).checkInitialized();
2265    }
2266
2267    public static ProtobufDifferentialDriveWheelVoltages parseFrom(final ProtoSource input) throws
2268        IOException {
2269      return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelVoltages(), input).checkInitialized();
2270    }
2271
2272    public static ProtobufDifferentialDriveWheelVoltages parseFrom(final JsonSource input) throws
2273        IOException {
2274      return ProtoMessage.mergeFrom(new ProtobufDifferentialDriveWheelVoltages(), input).checkInitialized();
2275    }
2276
2277    /**
2278     * @return factory for creating ProtobufDifferentialDriveWheelVoltages messages
2279     */
2280    public static MessageFactory<ProtobufDifferentialDriveWheelVoltages> getFactory() {
2281      return ProtobufDifferentialDriveWheelVoltagesFactory.INSTANCE;
2282    }
2283
2284    /**
2285     * @return this type's descriptor.
2286     */
2287    public static Descriptors.Descriptor getDescriptor() {
2288      return Controller.wpi_proto_ProtobufDifferentialDriveWheelVoltages_descriptor;
2289    }
2290
2291    private enum ProtobufDifferentialDriveWheelVoltagesFactory implements MessageFactory<ProtobufDifferentialDriveWheelVoltages> {
2292      INSTANCE;
2293
2294      @Override
2295      public ProtobufDifferentialDriveWheelVoltages create() {
2296        return ProtobufDifferentialDriveWheelVoltages.newInstance();
2297      }
2298    }
2299
2300    /**
2301     * Contains name constants used for serializing JSON
2302     */
2303    static class FieldNames {
2304      static final FieldName left = FieldName.forField("left");
2305
2306      static final FieldName right = FieldName.forField("right");
2307    }
2308  }
2309}