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.system.plant.struct;
006
007import edu.wpi.first.math.system.plant.DCMotor;
008import edu.wpi.first.util.struct.Struct;
009import java.nio.ByteBuffer;
010
011public class DCMotorStruct implements Struct<DCMotor> {
012  @Override
013  public Class<DCMotor> getTypeClass() {
014    return DCMotor.class;
015  }
016
017  @Override
018  public String getTypeString() {
019    return "struct:DCMotor";
020  }
021
022  @Override
023  public int getSize() {
024    return kSizeDouble * 5;
025  }
026
027  @Override
028  public String getSchema() {
029    return "double nominal_voltage;double stall_torque;double stall_current;"
030        + "double free_current;double free_speed";
031  }
032
033  @Override
034  public DCMotor unpack(ByteBuffer bb) {
035    double nominalVoltage = bb.getDouble();
036    double stallTorque = bb.getDouble();
037    double stallCurrent = bb.getDouble();
038    double freeCurrent = bb.getDouble();
039    double freeSpeed = bb.getDouble();
040    return new DCMotor(nominalVoltage, stallTorque, stallCurrent, freeCurrent, freeSpeed, 1);
041  }
042
043  @Override
044  public void pack(ByteBuffer bb, DCMotor value) {
045    bb.putDouble(value.nominalVoltageVolts);
046    bb.putDouble(value.stallTorqueNewtonMeters);
047    bb.putDouble(value.stallCurrentAmps);
048    bb.putDouble(value.freeCurrentAmps);
049    bb.putDouble(value.freeSpeedRadPerSec);
050  }
051}