[wpimath] Add setters to Feedforward gains

Signed-off-by: Jade Turner <[email protected]>
wpilibsuite · Feb 14, 2025 · 6a05985 · 6a05985
1 parent e648b9c
commit 6a05985
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Showing 6 changed files with 189 additions and 12 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. */
-  private final double ks;
+  private double ks;
 
   /** The gravity gain, in volts. */
-  private final double kg;
+  private double kg;
 
   /** The velocity gain, in V/(rad/s). */
-  private final double kv;
+  private double kv;
 
   /** The acceleration gain, in V/(rad/s²). */
-  private final double ka;
+  private double ka;
 
   /** The period, in seconds. */
   private final double m_dt;
@@ -95,6 +95,15 @@ public double getKs() {
     return ks;
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param ks The static gain in volts.
+   */
+  public void setKs(double ks) {
+    this.ks = ks;
+  }
+
   /**
    * Returns the gravity gain in volts.
    *
@@ -104,6 +113,15 @@ public double getKg() {
     return kg;
   }
 
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kg The gravity gain in volts.
+   */
+  public void setKg(double kg) {
+    this.kg = kg;
+  }
+
   /**
    * Returns the velocity gain in V/(rad/s).
    *
@@ -113,6 +131,15 @@ public double getKv() {
     return kv;
   }
 
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(rad/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
   /**
    * Returns the acceleration gain in V/(rad/s²).
    *
@@ -122,6 +149,15 @@ public double getKa() {
     return ka;
   }
 
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(rad/2²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
   /**
    * Returns the period in seconds.
    *

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
@@ -15,16 +15,16 @@
  */
 public class ElevatorFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain, in volts. */
-  private final double ks;
+  private double ks;
 
   /** The gravity gain, in volts. */
-  private final double kg;
+  private double kg;
 
   /** The velocity gain, in V/(m/s). */
-  private final double kv;
+  private double kv;
 
   /** The acceleration gain, in V/(m/s²). */
-  private final double ka;
+  private double ka;
 
   /** The period, in seconds. */
   private final double m_dt;
@@ -95,6 +95,15 @@ public double getKs() {
     return ks;
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param ks The static gain in volts.
+   */
+  public void setKs(double ks) {
+    this.ks = ks;
+  }
+
   /**
    * Returns the gravity gain in volts.
    *
@@ -104,6 +113,15 @@ public double getKg() {
     return kg;
   }
 
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kg The gravity gain in volts.
+   */
+  public void setKg(double kg) {
+    this.kg = kg;
+  }
+
   /**
    * Returns the velocity gain in V/(m/s).
    *
@@ -113,6 +131,15 @@ public double getKv() {
     return kv;
   }
 
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(rad/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
   /**
    * Returns the acceleration gain in V/(m/s²).
    *
@@ -122,6 +149,15 @@ public double getKa() {
     return ka;
   }
 
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(rad/2²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
   /**
    * Returns the period in seconds.
    *

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
@@ -12,13 +12,13 @@
 /** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */
 public class SimpleMotorFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain, in volts. */
-  private final double ks;
+  private double ks;
 
   /** The velocity gain, in V/(units/s). */
-  private final double kv;
+  private double kv;
 
   /** The acceleration gain, in V/(units/s²). */
-  private final double ka;
+  private double ka;
 
   /** The period, in seconds. */
   private final double m_dt;
@@ -92,6 +92,15 @@ public double getKs() {
     return ks;
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param ks The static gain in volts.
+   */
+  public void setKs(double ks) {
+    this.ks = ks;
+  }
+
   /**
    * Returns the velocity gain in V/(units/s).
    *
@@ -103,6 +112,15 @@ public double getKv() {
     return kv;
   }
 
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(rad/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
   /**
    * Returns the acceleration gain in V/(units/s²).
    *
@@ -114,6 +132,15 @@ public double getKa() {
     return ka;
   }
 
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(rad/2²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
   /**
    * Returns the period in seconds.
    *

diff --git a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -6,6 +6,7 @@
 
 #include <wpi/MathExtras.h>
 #include <wpi/SymbolExports.h>
+#include <cstdlib>
 
 #include "units/angle.h"
 #include "units/angular_velocity.h"
@@ -249,12 +250,26 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    */
   constexpr units::volt_t GetKs() const { return kS; }
 
+  /**
+   * Returns the static gain.
+   *
+   * @param kS The static gain.
+   */
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+
   /**
    * Returns the gravity gain.
    *
    * @return The gravity gain.
    */
-  constexpr units::volt_t GetKg() const { return kG; }
+  constexpr units::volt_t GetKg() { return kG; }
+
+  /**
+   * Returns the gravity gain.
+   *
+   * @param kG The gravity gain.
+   */
+  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
 
   /**
    * Returns the velocity gain.
@@ -263,13 +278,27 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    */
   constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
 
+  /**
+   * Returns the velocity gain.
+   *
+   * @param kV The velocity gain.
+   */
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = units::unit_t<kv_unit>{kV}; }
+
   /**
    * Returns the acceleration gain.
    *
    * @return The acceleration gain.
    */
   constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
 
+  /**
+   * Returns the acceleration gain.
+   *
+   * @param kA The acceleration gain.
+   */
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = units::unit_t<ka_unit>{kA}; }
+
  private:
   /// The static gain, in volts.
   units::volt_t kS;

diff --git a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
@@ -223,27 +223,55 @@ class ElevatorFeedforward {
    */
   constexpr units::volt_t GetKs() const { return kS; }
 
+  /**
+   * Returns the static gain.
+   *
+   * @param kS The static gain.
+   */
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+
   /**
    * Returns the gravity gain.
    *
    * @return The gravity gain.
    */
   constexpr units::volt_t GetKg() const { return kG; }
 
+  /**
+   * Returns the gravity gain.
+   *
+   * @param kG The gravity gain.
+   */
+  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
+
   /**
    * Returns the velocity gain.
    *
    * @return The velocity gain.
    */
   constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
 
+  /**
+   * Returns the velocity gain.
+   *
+   * @param kV The velocity gain.
+   */
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+
   /**
    * Returns the acceleration gain.
    *
    * @return The acceleration gain.
    */
   constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
 
+  /**
+   * Returns the acceleration gain.
+   *
+   * @param kA The acceleration gain.
+   */
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+
  private:
   /// The static gain.
   units::volt_t kS;

diff --git a/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h b/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
@@ -201,20 +201,41 @@ class SimpleMotorFeedforward {
    */
   constexpr units::volt_t GetKs() const { return kS; }
 
+  /**
+   * Returns the static gain.
+   *
+   * @param kS The static gain.
+   */
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+
   /**
    * Returns the velocity gain.
    *
    * @return The velocity gain.
    */
   constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
 
+  /**
+   * Returns the velocity gain.
+   *
+   * @param kV The velocity gain.
+   */
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+
   /**
    * Returns the acceleration gain.
    *
    * @return The acceleration gain.
    */
   constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
 
+  /**
+   * Returns the acceleration gain.
+   *
+   * @param kA The acceleration gain.
+   */
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+
   /**
    * Returns the period.
    *