[wpimath] Feed forwards: Use correct 'k' value in error message (#6360)

wpilibsuite · Feb 11, 2024 · 1e168f3 · 1e168f3
1 parent da3abad
commit 1e168f3
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Showing 3 changed files with 3 additions and 3 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
@@ -52,7 +52,7 @@ public ArmFeedforward(double ks, double kg, double kv, double ka) {
       throw new IllegalArgumentException("kv must be a non-negative number, got " + kv + "!");
     }
     if (ka < 0.0) {
-      throw new IllegalArgumentException("ka must be a non-negative number, got " + kv + "!");
+      throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
   }
 

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
@@ -55,7 +55,7 @@ public ElevatorFeedforward(double ks, double kg, double kv, double ka) {
       throw new IllegalArgumentException("kv must be a non-negative number, got " + kv + "!");
     }
     if (ka < 0.0) {
-      throw new IllegalArgumentException("ka must be a non-negative number, got " + kv + "!");
+      throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
   }
 

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
@@ -37,7 +37,7 @@ public SimpleMotorFeedforward(double ks, double kv, double ka) {
       throw new IllegalArgumentException("kv must be a non-negative number, got " + kv + "!");
     }
     if (ka < 0.0) {
-      throw new IllegalArgumentException("ka must be a non-negative number, got " + kv + "!");
+      throw new IllegalArgumentException("ka must be a non-negative number, got " + ka + "!");
     }
   }