fix velocity ff

team4099 · Feb 26, 2023 · c2b7d3e · c2b7d3e
1 parent b041b0d
commit c2b7d3e
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/build.gradle b/build.gradle
@@ -39,7 +39,7 @@ publishing {
 		release(MavenPublication) {
 			groupId = 'org.team4099'
 			artifactId = 'falconutils'
-			version = '1.1.14'
+			version = '1.1.15'
 
 			from(components["kotlin"])
 		}

diff --git a/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt b/src/main/kotlin/org/team4099/lib/units/MechanismUnits.kt
@@ -69,7 +69,7 @@ interface MechanismSensor<U : UnitKey> {
     derivativeGain: DerivativeGain<Velocity<U>, Volt>,
   ): Double
 
-  fun velocityFeedforwardToRawUnits(velocityFeedforward: VelocityFeedforward<Velocity<U>, Volt>): Double
+  fun velocityFeedforwardToRawUnits(velocityFeedforward: VelocityFeedforward<U, Volt>): Double
 }
 
 class LinearMechanismSensor(
@@ -157,7 +157,7 @@ class LinearMechanismSensor(
   }
 
   override inline fun velocityFeedforwardToRawUnits(
-    velocityFeedforward: VelocityFeedforward<Velocity<Meter>, Volt>
+    velocityFeedforward: VelocityFeedforward<Meter, Volt>
   ): Double {
     return velocityFeedforward.value * velocityToRawUnits(1.0.meters.perSecond) /
       compensationVoltage.inVolts * fullPowerThrottle
@@ -246,7 +246,7 @@ class AngularMechanismSensor(
   }
 
   override inline fun velocityFeedforwardToRawUnits(
-    velocityFeedforward: VelocityFeedforward<Velocity<Radian>, Volt>
+    velocityFeedforward: VelocityFeedforward<Radian, Volt>
   ): Double {
     return velocityFeedforward.value * velocityToRawUnits(1.0.radians.perSecond) /
       compensationVoltage.inVolts * fullPowerThrottle