From 8c57a45429179609c859109fce43fe0a12bb3a2a Mon Sep 17 00:00:00 2001
From: Saraansh Wadkar <saraanshwadkar@gmail.com>
Date: Sun, 29 Jan 2023 18:42:47 -0500
Subject: [PATCH] change angular kG to volts

---
 src/main/kotlin/org/team4099/lib/controller/ArmFeedforward.kt  | 2 +-
 .../kotlin/org/team4099/lib/units/derived/Characterization.kt  | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/kotlin/org/team4099/lib/controller/ArmFeedforward.kt b/src/main/kotlin/org/team4099/lib/controller/ArmFeedforward.kt
index 2c5fee5..60a2043 100644
--- 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
index 306cee3..9174608 100644
--- 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>