[wpimath] Fix SimpleFeedforward overload set (#7516)

wpilibsuite · Dec 8, 2024 · c497e4e · c497e4e
1 parent 6dbff90
commit c497e4e
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Showing 8 changed files with 17 additions and 53 deletions.
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -368,19 +368,16 @@ public void execute() {
 
     if (m_usePID) {
       final double frontLeftFeedforward =
-          m_feedforward.calculateWithVelocities(
-              m_prevFrontLeftSpeedSetpoint, frontLeftSpeedSetpoint);
+          m_feedforward.calculate(m_prevFrontLeftSpeedSetpoint, frontLeftSpeedSetpoint);
 
       final double rearLeftFeedforward =
-          m_feedforward.calculateWithVelocities(m_prevRearLeftSpeedSetpoint, rearLeftSpeedSetpoint);
+          m_feedforward.calculate(m_prevRearLeftSpeedSetpoint, rearLeftSpeedSetpoint);
 
       final double frontRightFeedforward =
-          m_feedforward.calculateWithVelocities(
-              m_prevFrontRightSpeedSetpoint, frontRightSpeedSetpoint);
+          m_feedforward.calculate(m_prevFrontRightSpeedSetpoint, frontRightSpeedSetpoint);
 
       final double rearRightFeedforward =
-          m_feedforward.calculateWithVelocities(
-              m_prevRearRightSpeedSetpoint, rearRightSpeedSetpoint);
+          m_feedforward.calculate(m_prevRearRightSpeedSetpoint, rearRightSpeedSetpoint);
 
       frontLeftOutput =
           frontLeftFeedforward

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -181,11 +181,10 @@ public void execute() {
     double rightOutput;
 
     if (m_usePID) {
-      double leftFeedforward =
-          m_feedforward.calculateWithVelocities(m_prevLeftSpeedSetpoint, leftSpeedSetpoint);
+      double leftFeedforward = m_feedforward.calculate(m_prevLeftSpeedSetpoint, leftSpeedSetpoint);
 
       double rightFeedforward =
-          m_feedforward.calculateWithVelocities(m_prevRightSpeedSetpoint, rightSpeedSetpoint);
+          m_feedforward.calculate(m_prevRightSpeedSetpoint, rightSpeedSetpoint);
 
       leftOutput =
           leftFeedforward

diff --git a/.../java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java b/.../java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
@@ -96,12 +96,12 @@ public void setDriveStates(
     m_leftLeader.setSetpoint(
         ExampleSmartMotorController.PIDMode.kPosition,
         currentLeft.position,
-        m_feedforward.calculateWithVelocities(currentLeft.velocity, nextLeft.velocity)
+        m_feedforward.calculate(currentLeft.velocity, nextLeft.velocity)
             / RobotController.getBatteryVoltage());
     m_rightLeader.setSetpoint(
         ExampleSmartMotorController.PIDMode.kPosition,
         currentRight.position,
-        m_feedforward.calculateWithVelocities(currentLeft.velocity, nextLeft.velocity)
+        m_feedforward.calculate(currentLeft.velocity, nextLeft.velocity)
             / RobotController.getBatteryVoltage());
   }
 

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
@@ -123,20 +123,6 @@ public double getDt() {
     return m_dt;
   }
 
-  /**
-   * Calculates the feedforward from the gains and setpoints assuming continuous control.
-   *
-   * @param velocity The velocity setpoint.
-   * @param acceleration The acceleration setpoint.
-   * @return The computed feedforward.
-   * @deprecated Use {@link #calculateWithVelocities(double, double)} instead.
-   */
-  @SuppressWarnings("removal")
-  @Deprecated(forRemoval = true, since = "2025")
-  public double calculate(double velocity, double acceleration) {
-    return ks * Math.signum(velocity) + kv * velocity + ka * acceleration;
-  }
-
   /**
    * Calculates the feedforward from the gains and velocity setpoint assuming continuous control
    * (acceleration is assumed to be zero).
@@ -157,7 +143,7 @@ public double calculate(double velocity) {
    * @param nextVelocity The next velocity setpoint.
    * @return The computed feedforward.
    */
-  public double calculateWithVelocities(double currentVelocity, double nextVelocity) {
+  public double calculate(double currentVelocity, double nextVelocity) {
     // See wpimath/algorithms.md#Simple_motor_feedforward for derivation
     if (ka == 0.0) {
       return ks * Math.signum(nextVelocity) + kv * nextVelocity;

diff --git a/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h b/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
@@ -67,22 +67,6 @@ class SimpleMotorFeedforward {
     }
   }
 
-  /**
-   * Calculates the feedforward from the gains and setpoints assuming continuous
-   * control.
-   *
-   * @param velocity     The velocity setpoint.
-   * @param acceleration The acceleration setpoint.
-   * @return The computed feedforward, in volts.
-   * @deprecated Use the current/next velocity overload instead.
-   */
-  [[deprecated("Use the current/next velocity overload instead.")]]
-  constexpr units::volt_t Calculate(
-      units::unit_t<Velocity> velocity,
-      units::unit_t<Acceleration> acceleration) const {
-    return kS * wpi::sgn(velocity) + kV * velocity + kA * acceleration;
-  }
-
   /**
    * Calculates the feedforward from the gains and velocity setpoint assuming
    * discrete control. Use this method when the velocity setpoint does not

diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java
@@ -34,19 +34,17 @@ void testCalculate() {
     double nextVelocity = 3.0; // rad/s
 
     assertEquals(
-        37.52499583432516 + 0.5,
-        simpleMotor.calculateWithVelocities(currentVelocity, nextVelocity),
-        0.002);
+        37.52499583432516 + 0.5, simpleMotor.calculate(currentVelocity, nextVelocity), 0.002);
     assertEquals(
         plantInversion.calculate(r, nextR).get(0, 0) + Ks,
-        simpleMotor.calculateWithVelocities(currentVelocity, nextVelocity),
+        simpleMotor.calculate(currentVelocity, nextVelocity),
         0.002);
 
     // These won't match exactly. It's just an approximation to make sure they're
     // in the same ballpark.
     assertEquals(
         plantInversion.calculate(r, nextR).get(0, 0) + Ks,
-        simpleMotor.calculateWithVelocities(currentVelocity, nextVelocity),
+        simpleMotor.calculate(currentVelocity, nextVelocity),
         2.0);
   }
 

diff --git a/...h/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java b/...h/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java
@@ -51,25 +51,25 @@ void testDifferentialDriveVoltageConstraint() {
       assertAll(
           () ->
               assertTrue(
-                  feedforward.calculateWithVelocities(
+                  feedforward.calculate(
                           wheelSpeeds.leftMetersPerSecond,
                           wheelSpeeds.leftMetersPerSecond + dt * acceleration)
                       <= maxVoltage + 0.05),
           () ->
               assertTrue(
-                  feedforward.calculateWithVelocities(
+                  feedforward.calculate(
                           wheelSpeeds.leftMetersPerSecond,
                           wheelSpeeds.leftMetersPerSecond + dt * acceleration)
                       >= -maxVoltage - 0.05),
           () ->
               assertTrue(
-                  feedforward.calculateWithVelocities(
+                  feedforward.calculate(
                           wheelSpeeds.rightMetersPerSecond,
                           wheelSpeeds.rightMetersPerSecond + dt * acceleration)
                       <= maxVoltage + 0.05),
           () ->
               assertTrue(
-                  feedforward.calculateWithVelocities(
+                  feedforward.calculate(
                           wheelSpeeds.rightMetersPerSecond,
                           wheelSpeeds.rightMetersPerSecond + dt * acceleration)
                       >= -maxVoltage - 0.05));

diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/ExponentialProfileTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/ExponentialProfileTest.java
@@ -43,7 +43,7 @@ private static void assertNear(
   private static ExponentialProfile.State checkDynamics(
       ExponentialProfile profile, ExponentialProfile.State current, ExponentialProfile.State goal) {
     var next = profile.calculate(kDt, current, goal);
-    var signal = feedforward.calculateWithVelocities(current.velocity, next.velocity);
+    var signal = feedforward.calculate(current.velocity, next.velocity);
 
     assertTrue(Math.abs(signal) < constraints.maxInput + 1e-9);