From 1e168f363e23c42bde8b39e75765bb2eb81f97b2 Mon Sep 17 00:00:00 2001
From: fodfodfod <94200657+fodfodfod@users.noreply.github.com>
Date: Sun, 11 Feb 2024 13:42:04 -0500
Subject: [PATCH] [wpimath] Feed forwards: Use correct 'k' value in error
 message (#6360)

---
 .../main/java/edu/wpi/first/math/controller/ArmFeedforward.java | 2 +-
 .../java/edu/wpi/first/math/controller/ElevatorFeedforward.java | 2 +-
 .../edu/wpi/first/math/controller/SimpleMotorFeedforward.java   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
index d7a695fced4..0d8b11b465f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -52,7 +52,7 @@ public ArmFeedforward(double ks, double kg, double kv, double ka) {
       throw new IllegalArgumentException("kv must be a non-negative number, got " + kv + "!");
     }
     if (ka < 0.0) {
-      throw new IllegalArgumentException("ka must be a non-negative number, got " + kv + "!");
+      throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
index 854462a652c..dc56ece26a4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
@@ -55,7 +55,7 @@ public ElevatorFeedforward(double ks, double kg, double kv, double ka) {
       throw new IllegalArgumentException("kv must be a non-negative number, got " + kv + "!");
     }
     if (ka < 0.0) {
-      throw new IllegalArgumentException("ka must be a non-negative number, got " + kv + "!");
+      throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
   }
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
index 2b25bccbf8f..eeb76db3196 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
@@ -37,7 +37,7 @@ public SimpleMotorFeedforward(double ks, double kv, double ka) {
       throw new IllegalArgumentException("kv must be a non-negative number, got " + kv + "!");
     }
     if (ka < 0.0) {
-      throw new IllegalArgumentException("ka must be a non-negative number, got " + kv + "!");
+      throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
   }