change angular kG to volts

team4099 · Jan 29, 2023 · 8c57a45 · 8c57a45
1 parent ac77d8d
commit 8c57a45
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/src/main/kotlin/org/team4099/lib/controller/ArmFeedforward.kt b/src/main/kotlin/org/team4099/lib/controller/ArmFeedforward.kt
@@ -32,7 +32,7 @@ class ArmFeedforward(
   private val feedforward =
     WPIArmFeedforward(
       kS.inVolts,
-      kG.inVoltsPerRadian,
+      kG.inVolts,
       kV.inVoltsPerRadianPerSecond,
       kA.inVoltsPerRadianPerSecondPerSecond
     )

diff --git a/src/main/kotlin/org/team4099/lib/units/derived/Characterization.kt b/src/main/kotlin/org/team4099/lib/units/derived/Characterization.kt
@@ -3,6 +3,7 @@ package org.team4099.lib.units.derived
 import org.team4099.lib.units.Acceleration
 import org.team4099.lib.units.Fraction
 import org.team4099.lib.units.UnitKey
+import org.team4099.lib.units.Unitless
 import org.team4099.lib.units.Value
 import org.team4099.lib.units.Velocity
 import org.team4099.lib.units.base.Ampere
@@ -14,7 +15,7 @@ typealias VelocityFeedforward<E, O> = Value<Fraction<O, Velocity<E>>>
 
 typealias AccelerationFeedforward<E, O> = Value<Fraction<O, Acceleration<E>>>
 
-typealias AngularGravityFeedforward = Value<Fraction<Volt, Radian>>
+typealias AngularGravityFeedforward = Value<Volt>
 
 typealias LinearGravityFeedforward = Value<Volt>