From 4e1fb1255b5948d4bb44962f2741cf07aedb09ff Mon Sep 17 00:00:00 2001
From: Joseph Eng <s-engjo@bsd405.org>
Date: Fri, 19 Jul 2024 08:50:32 -0700
Subject: [PATCH] More clearly express kv and ka units

---
 .../edu/wpi/first/math/controller/ArmFeedforward.java     | 8 ++++----
 .../main/native/include/frc/controller/ArmFeedforward.h   | 4 ++--
 2 files changed, 6 insertions(+), 6 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 c62b00b9dec..cd66696e502 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
@@ -21,10 +21,10 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
   /** The gravity gain, in volts. */
   private final double kg;
 
-  /** The velocity gain, in volt seconds per radian. */
+  /** The velocity gain, in V/(rad/s). */
   private final double kv;
 
-  /** The acceleration gain, in volt seconds² per radian. */
+  /** The acceleration gain, in V/(rad/s²). */
   private final double ka;
 
   /** Arm feedforward protobuf for serialization. */
@@ -90,7 +90,7 @@ public double getKg() {
   /**
    * Returns the velocity gain.
    *
-   * @return The velocity gain, in volt seconds per radian.
+   * @return The velocity gain, in V/(rad/s).
    */
   public double getKv() {
     return kv;
@@ -99,7 +99,7 @@ public double getKv() {
   /**
    * Returns the acceleration gain.
    *
-   * @return The acceleration gain, in volts seconds² per radian.
+   * @return The acceleration gain, in V/(rad/s²).
    */
   public double getKa() {
     return ka;
diff --git a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
index 6c27d39fc88..2e986a9baa7 100644
--- a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -227,10 +227,10 @@ class WPILIB_DLLEXPORT ArmFeedforward {
   /// The gravity gain, in volts.
   units::volt_t kG;
 
-  /// The velocity gain, in volt seconds per radian.
+  /// The velocity gain, in V/(rad/s)volt seconds per radian.
   units::unit_t<kv_unit> kV;
 
-  /// The acceleration gain, in volt seconds² per radian.
+  /// The acceleration gain, in V/(rad/s²).
   units::unit_t<ka_unit> kA;
 };
 }  // namespace frc