pid_ff.h

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include <wpi/units/angle.hpp>
#include <wpi/units/angular_acceleration.hpp>
#include <wpi/units/angular_velocity.hpp>
#include <wpi/units/current.hpp>
#include <wpi/units/dimensionless.hpp>
#include <wpi/units/voltage.hpp>
 
namespace ctre {
namespace unit {
 
#define CTRE_PID_FF_UNIT_ADD(unit_name, output)                                                                                                                     \
    using unit_name##_per_turn = wpi::units::compound_unit<output, wpi::units::inverse<wpi::units::turns>>;                                                         \
    using unit_name##_per_turn_t = wpi::units::unit_t<unit_name##_per_turn>;                                                                                        \
    using unit_name##_per_turn_second = wpi::units::compound_unit<output, wpi::units::inverse<wpi::units::compound_unit<wpi::units::turns, wpi::units::seconds>>>;  \
    using unit_name##_per_turn_second_t = wpi::units::unit_t<unit_name##_per_turn_second>;                                                                          \
    using unit_name##_per_turn_per_second = wpi::units::compound_unit<output, wpi::units::inverse<wpi::units::turns_per_second>>;                                   \
    using unit_name##_per_turn_per_second_t = wpi::units::unit_t<unit_name##_per_turn_per_second>;                                                                  \
    using unit_name##_per_turn_per_second_squared = wpi::units::compound_unit<output, wpi::units::inverse<wpi::units::turns_per_second_squared>>;                   \
    using unit_name##_per_turn_per_second_squared_t = wpi::units::unit_t<unit_name##_per_turn_per_second_squared>;
 
    CTRE_PID_FF_UNIT_ADD(scalar, wpi::units::scalar)
    CTRE_PID_FF_UNIT_ADD(volts, wpi::units::volts)
    CTRE_PID_FF_UNIT_ADD(amperes, wpi::units::amperes)
 
}
}