Make public final values in feedforwards private and add getters

KangarooKoala · Jul 18, 2024 · 1f7c768 · 1f7c768
1 parent 7663211
commit 1f7c768
Show file tree

Hide file tree

Showing 22 changed files with 282 additions and 88 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
@@ -16,16 +16,16 @@
  */
 public class ArmFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain, in volts. */
-  public final double ks;
+  private final double ks;
 
   /** The gravity gain, in volts. */
-  public final double kg;
+  private final double kg;
 
   /** The velocity gain, in volt seconds per radian. */
-  public final double kv;
+  private final double kv;
 
   /** The acceleration gain, in volt seconds² per radian. */
-  public final double ka;
+  private final double ka;
 
   /** Arm feedforward protobuf for serialization. */
   public static final ArmFeedforwardProto proto = new ArmFeedforwardProto();
@@ -69,6 +69,42 @@ public ArmFeedforward(double ks, double kg, double kv) {
     this(ks, kg, kv, 0);
   }
 
+  /**
+   * Returns the static gain.
+   *
+   * @return The static gain, in volts.
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * Returns the gravity gain.
+   *
+   * @return The gravity gain, in volts.
+   */
+  public double getKg() {
+    return kg;
+  }
+
+  /**
+   * Returns the velocity gain.
+   *
+   * @return The velocity gain, in volt seconds per radian.
+   */
+  public double getKv() {
+    return kv;
+  }
+
+  /**
+   * Returns the acceleration gain.
+   *
+   * @return The acceleration gain, in volts seconds² per radian.
+   */
+  public double getKa() {
+    return ka;
+  }
+
   /**
    * Calculates the feedforward from the gains and setpoints.
    *

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
@@ -18,16 +18,16 @@
  */
 public class ElevatorFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain. */
-  public final double ks;
+  private final double ks;
 
   /** The gravity gain. */
-  public final double kg;
+  private final double kg;
 
   /** The velocity gain. */
-  public final double kv;
+  private final double kv;
 
   /** The acceleration gain. */
-  public final double ka;
+  private final double ka;
 
   /** ElevatorFeedforward protobuf for serialization. */
   public static final ElevatorFeedforwardProto proto = new ElevatorFeedforwardProto();
@@ -71,6 +71,42 @@ public ElevatorFeedforward(double ks, double kg, double kv) {
     this(ks, kg, kv, 0);
   }
 
+  /**
+   * Returns the static gain.
+   *
+   * @return The static gain.
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * Returns the gravity gain.
+   *
+   * @return The gravity gain.
+   */
+  public double getKg() {
+    return kg;
+  }
+
+  /**
+   * Returns the velocity gain.
+   *
+   * @return The velocity gain.
+   */
+  public double getKv() {
+    return kv;
+  }
+
+  /**
+   * Returns the acceleration gain.
+   *
+   * @return The acceleration gain.
+   */
+  public double getKa() {
+    return ka;
+  }
+
   /**
    * Calculates the feedforward from the gains and setpoints.
    *

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
@@ -14,16 +14,16 @@
 /** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */
 public class SimpleMotorFeedforward {
   /** The static gain. */
-  public final double ks;
+  private final double ks;
 
   /** The velocity gain. */
-  public final double kv;
+  private final double kv;
 
   /** The acceleration gain. */
-  public final double ka;
+  private final double ka;
 
   /** The period. */
-  private double m_dt;
+  private final double m_dt;
 
   /**
    * Creates a new SimpleMotorFeedforward with the specified gains and period. Units of the gain
@@ -80,6 +80,42 @@ public SimpleMotorFeedforward(double ks, double kv) {
     this(ks, kv, 0, 0.020);
   }
 
+  /**
+   * Returns the static gain.
+   *
+   * @return The static gain.
+   */
+  public double getKs() {
+    return ks;
+  }
+
+  /**
+   * Returns the velocity gain.
+   *
+   * @return The velocity gain.
+   */
+  public double getKv() {
+    return kv;
+  }
+
+  /**
+   * Returns the acceleration gain.
+   *
+   * @return The acceleration gain.
+   */
+  public double getKa() {
+    return ka;
+  }
+
+  /**
+   * Returns the period.
+   *
+   * @return The period in seconds.
+   */
+  public double getDt() {
+    return m_dt;
+  }
+
   /**
    * Calculates the feedforward from the gains and setpoints.
    *

diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/proto/ArmFeedforwardProto.java b/wpimath/src/main/java/edu/wpi/first/math/controller/proto/ArmFeedforwardProto.java
@@ -32,9 +32,9 @@ public ArmFeedforward unpack(ProtobufArmFeedforward msg) {
 
   @Override
   public void pack(ProtobufArmFeedforward msg, ArmFeedforward value) {
-    msg.setKs(value.ks);
-    msg.setKg(value.kg);
-    msg.setKv(value.kv);
-    msg.setKa(value.ka);
+    msg.setKs(value.getKs());
+    msg.setKg(value.getKg());
+    msg.setKv(value.getKv());
+    msg.setKa(value.getKa());
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/proto/ElevatorFeedforwardProto.java b/wpimath/src/main/java/edu/wpi/first/math/controller/proto/ElevatorFeedforwardProto.java
@@ -33,9 +33,9 @@ public ElevatorFeedforward unpack(ProtobufElevatorFeedforward msg) {
 
   @Override
   public void pack(ProtobufElevatorFeedforward msg, ElevatorFeedforward value) {
-    msg.setKs(value.ks);
-    msg.setKg(value.kg);
-    msg.setKv(value.kv);
-    msg.setKa(value.ka);
+    msg.setKs(value.getKs());
+    msg.setKg(value.getKg());
+    msg.setKv(value.getKv());
+    msg.setKa(value.getKa());
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/struct/ArmFeedforwardStruct.java b/wpimath/src/main/java/edu/wpi/first/math/controller/struct/ArmFeedforwardStruct.java
@@ -40,9 +40,9 @@ public ArmFeedforward unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, ArmFeedforward value) {
-    bb.putDouble(value.ks);
-    bb.putDouble(value.kg);
-    bb.putDouble(value.kv);
-    bb.putDouble(value.ka);
+    bb.putDouble(value.getKs());
+    bb.putDouble(value.getKg());
+    bb.putDouble(value.getKv());
+    bb.putDouble(value.getKa());
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/struct/ElevatorFeedforwardStruct.java b/wpimath/src/main/java/edu/wpi/first/math/controller/struct/ElevatorFeedforwardStruct.java
@@ -40,9 +40,9 @@ public ElevatorFeedforward unpack(ByteBuffer bb) {
 
   @Override
   public void pack(ByteBuffer bb, ElevatorFeedforward value) {
-    bb.putDouble(value.ks);
-    bb.putDouble(value.kg);
-    bb.putDouble(value.kv);
-    bb.putDouble(value.ka);
+    bb.putDouble(value.getKs());
+    bb.putDouble(value.getKg());
+    bb.putDouble(value.getKv());
+    bb.putDouble(value.getKa());
   }
 }
diff --git a/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp b/wpimath/src/main/native/cpp/controller/proto/ArmFeedforwardProto.cpp
@@ -27,8 +27,8 @@ frc::ArmFeedforward wpi::Protobuf<frc::ArmFeedforward>::Unpack(
 void wpi::Protobuf<frc::ArmFeedforward>::Pack(
     google::protobuf::Message* msg, const frc::ArmFeedforward& value) {
   auto m = static_cast<wpi::proto::ProtobufArmFeedforward*>(msg);
-  m->set_ks(value.kS.value());
-  m->set_kg(value.kG.value());
-  m->set_kv(value.kV.value());
-  m->set_ka(value.kA.value());
+  m->set_ks(value.getKs().value());
+  m->set_kg(value.getKg().value());
+  m->set_kv(value.getKv().value());
+  m->set_ka(value.getKa().value());
 }
diff --git a/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp b/wpimath/src/main/native/cpp/controller/proto/ElevatorFeedforwardProto.cpp
@@ -27,8 +27,8 @@ frc::ElevatorFeedforward wpi::Protobuf<frc::ElevatorFeedforward>::Unpack(
 void wpi::Protobuf<frc::ElevatorFeedforward>::Pack(
     google::protobuf::Message* msg, const frc::ElevatorFeedforward& value) {
   auto m = static_cast<wpi::proto::ProtobufElevatorFeedforward*>(msg);
-  m->set_ks(value.kS());
-  m->set_kg(value.kG());
-  m->set_kv(value.kV());
-  m->set_ka(value.kA());
+  m->set_ks(value.getKs().value());
+  m->set_kg(value.getKg().value());
+  m->set_kv(value.getKv().value());
+  m->set_ka(value.getKa().value());
 }
diff --git a/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/ArmFeedforwardStruct.cpp
@@ -26,8 +26,8 @@ frc::ArmFeedforward StructType::Unpack(std::span<const uint8_t> data) {
 
 void StructType::Pack(std::span<uint8_t> data,
                       const frc::ArmFeedforward& value) {
-  wpi::PackStruct<kKsOff>(data, value.kS());
-  wpi::PackStruct<kKgOff>(data, value.kG());
-  wpi::PackStruct<kKvOff>(data, value.kV());
-  wpi::PackStruct<kKaOff>(data, value.kA());
+  wpi::PackStruct<kKsOff>(data, value.getKs().value());
+  wpi::PackStruct<kKgOff>(data, value.getKg().value());
+  wpi::PackStruct<kKvOff>(data, value.getKv().value());
+  wpi::PackStruct<kKaOff>(data, value.getKa().value());
 }
diff --git a/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp b/wpimath/src/main/native/cpp/controller/struct/ElevatorFeedforwardStruct.cpp
@@ -26,8 +26,8 @@ frc::ElevatorFeedforward StructType::Unpack(std::span<const uint8_t> data) {
 
 void StructType::Pack(std::span<uint8_t> data,
                       const frc::ElevatorFeedforward& value) {
-  wpi::PackStruct<kKsOff>(data, value.kS());
-  wpi::PackStruct<kKgOff>(data, value.kG());
-  wpi::PackStruct<kKvOff>(data, value.kV());
-  wpi::PackStruct<kKaOff>(data, value.kA());
+  wpi::PackStruct<kKsOff>(data, value.getKs().value());
+  wpi::PackStruct<kKgOff>(data, value.getKg().value());
+  wpi::PackStruct<kKvOff>(data, value.getKv().value());
+  wpi::PackStruct<kKaOff>(data, value.getKa().value());
 }
diff --git a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -192,17 +192,46 @@ class WPILIB_DLLEXPORT ArmFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, angle, velocity);
   }
 
+  /**
+   * Returns the static gain.
+   *
+   * @return The static gain.
+   */
+  units::volt_t getKs() const { return kS; }
+
+  /**
+   * Returns the gravity gain.
+   *
+   * @return The gravity gain.
+   */
+  units::volt_t getKg() const { return kG; }
+
+  /**
+   * Returns the velocity gain.
+   *
+   * @return The velocity gain.
+   */
+  units::unit_t<kv_unit> getKv() const { return kV; }
+
+  /**
+   * Returns the acceleration gain.
+   *
+   * @return The acceleration gain.
+   */
+  units::unit_t<ka_unit> getKa() const { return kA; }
+
+ private:
   /// The static gain, in volts.
-  const units::volt_t kS;
+  units::volt_t kS;
 
   /// The gravity gain, in volts.
-  const units::volt_t kG;
+  units::volt_t kG;
 
   /// The velocity gain, in volt seconds per radian.
-  const units::unit_t<kv_unit> kV;
+  units::unit_t<kv_unit> kV;
 
   /// The acceleration gain, in volt seconds² per radian.
-  const units::unit_t<ka_unit> kA;
+  units::unit_t<ka_unit> kA;
 };
 }  // namespace frc