[wpimath] Fix up order and docs for Feedforward gain setters

wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java

@@ -87,75 +87,75 @@ public ArmFeedforward(double ks, double kg, double kv) {
   }
 
   /**
-   * Returns the static gain in volts.
+   * Sets the static gain.
    *
-   * @return The static gain in volts.
+   * @param ks The static gain in volts.
    */
-  public double getKs() {
-    return ks;
+  public void setKs(double ks) {
+    this.ks = ks;
   }
 
   /**
-   * Sets the static gain.
+   * Sets the gravity gain.
    *
-   * @param ks The static gain in volts.
+   * @param kg The gravity gain in volts.
    */
-  public void setKs(double ks) {
-    this.ks = ks;
+  public void setKg(double kg) {
+    this.kg = kg;
   }
 
   /**
-   * Returns the gravity gain in volts.
+   * Sets the velocity gain.
    *
-   * @return The gravity gain in volts.
+   * @param kv The velocity gain in V/(rad/s).
    */
-  public double getKg() {
-    return kg;
+  public void setKv(double kv) {
+    this.kv = kv;
   }
 
   /**
-   * Sets the gravity gain.
+   * Sets the acceleration gain.
    *
-   * @param kg The gravity gain in volts.
+   * @param ka The acceleration gain in V/(rad/s²).
    */
-  public void setKg(double kg) {
-    this.kg = kg;
+  public void setKa(double ka) {
+    this.ka = ka;
   }
 
   /**
-   * Returns the velocity gain in V/(rad/s).
+   * Returns the static gain in volts.
    *
-   * @return The velocity gain.
+   * @return The static gain in volts.
    */
-  public double getKv() {
-    return kv;
+  public double getKs() {
+    return ks;
   }
 
   /**
-   * Sets the velocity gain.
+   * Returns the gravity gain in volts.
    *
-   * @param kv The velocity gain in V/(rad/s).
+   * @return The gravity gain in volts.
    */
-  public void setKv(double kv) {
-    this.kv = kv;
+  public double getKg() {
+    return kg;
   }
 
   /**
-   * Returns the acceleration gain in V/(rad/s²).
+   * Returns the velocity gain in V/(rad/s).
    *
-   * @return The acceleration gain.
+   * @return The velocity gain.
    */
-  public double getKa() {
-    return ka;
+  public double getKv() {
+    return kv;
   }
 
   /**
-   * Sets the acceleration gain.
+   * Returns the acceleration gain in V/(rad/s²).
    *
-   * @param ka The acceleration gain in V/(rad/2²).
+   * @return The acceleration gain.
    */
-  public void setKa(double ka) {
-    this.ka = ka;
+  public double getKa() {
+    return ka;
   }
 
   /**

wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java

@@ -87,75 +87,75 @@ public ElevatorFeedforward(double ks, double kg, double kv) {
   }
 
   /**
-   * Returns the static gain in volts.
+   * Sets the static gain.
    *
-   * @return The static gain in volts.
+   * @param ks The static gain in volts.
    */
-  public double getKs() {
-    return ks;
+  public void setKs(double ks) {
+    this.ks = ks;
   }
 
   /**
-   * Sets the static gain.
+   * Sets the gravity gain.
    *
-   * @param ks The static gain in volts.
+   * @param kg The gravity gain in volts.
    */
-  public void setKs(double ks) {
-    this.ks = ks;
+  public void setKg(double kg) {
+    this.kg = kg;
   }
 
   /**
-   * Returns the gravity gain in volts.
+   * Sets the velocity gain.
    *
-   * @return The gravity gain in volts.
+   * @param kv The velocity gain in V/(rad/s).
    */
-  public double getKg() {
-    return kg;
+  public void setKv(double kv) {
+    this.kv = kv;
   }
 
   /**
-   * Sets the gravity gain.
+   * Sets the acceleration gain.
    *
-   * @param kg The gravity gain in volts.
+   * @param ka The acceleration gain in V/(rad/s²).
    */
-  public void setKg(double kg) {
-    this.kg = kg;
+  public void setKa(double ka) {
+    this.ka = ka;
   }
 
   /**
-   * Returns the velocity gain in V/(m/s).
+   * Returns the static gain in volts.
    *
-   * @return The velocity gain.
+   * @return The static gain in volts.
    */
-  public double getKv() {
-    return kv;
+  public double getKs() {
+    return ks;
   }
 
   /**
-   * Sets the velocity gain.
+   * Returns the gravity gain in volts.
    *
-   * @param kv The velocity gain in V/(rad/s).
+   * @return The gravity gain in volts.
    */
-  public void setKv(double kv) {
-    this.kv = kv;
+  public double getKg() {
+    return kg;
   }
 
   /**
-   * Returns the acceleration gain in V/(m/s²).
+   * Returns the velocity gain in V/(m/s).
    *
-   * @return The acceleration gain.
+   * @return The velocity gain.
    */
-  public double getKa() {
-    return ka;
+  public double getKv() {
+    return kv;
   }
 
   /**
-   * Sets the acceleration gain.
+   * Returns the acceleration gain in V/(m/s²).
    *
-   * @param ka The acceleration gain in V/(rad/2²).
+   * @return The acceleration gain.
    */
-  public void setKa(double ka) {
-    this.ka = ka;
+  public double getKa() {
+    return ka;
   }
 
   /**

wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java

@@ -83,15 +83,6 @@ public SimpleMotorFeedforward(double ks, double kv) {
     this(ks, kv, 0);
   }
 
-  /**
-   * Returns the static gain in volts.
-   *
-   * @return The static gain in volts.
-   */
-  public double getKs() {
-    return ks;
-  }
-
   /**
    * Sets the static gain.
    *
@@ -102,43 +93,52 @@ public void setKs(double ks) {
   }
 
   /**
-   * Returns the velocity gain in V/(units/s).
+   * Sets the velocity gain.
    *
-   * <p>The units should be radians for angular systems and meters for linear systems.
+   * @param kv The velocity gain in V/(rad/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
+  /**
+   * Sets the acceleration gain.
    *
-   * @return The velocity gain in V/(units/s).
+   * @param ka The acceleration gain in V/(rad/2²).
    */
-  public double getKv() {
-    return kv;
+  public void setKa(double ka) {
+    this.ka = ka;
   }
 
   /**
-   * Sets the velocity gain.
+   * Returns the static gain in volts.
    *
-   * @param kv The velocity gain in V/(rad/s).
+   * @return The static gain in volts.
    */
-  public void setKv(double kv) {
-    this.kv = kv;
+  public double getKs() {
+    return ks;
   }
 
   /**
-   * Returns the acceleration gain in V/(units/s²).
+   * Returns the velocity gain in V/(units/s).
    *
    * <p>The units should be radians for angular systems and meters for linear systems.
    *
-   * @return The acceleration gain in V/(units/s²).
+   * @return The velocity gain in V/(units/s).
    */
-  public double getKa() {
-    return ka;
+  public double getKv() {
+    return kv;
   }
 
   /**
-   * Sets the acceleration gain.
+   * Returns the acceleration gain in V/(units/s²).
    *
-   * @param ka The acceleration gain in V/(rad/2²).
+   * <p>The units should be radians for angular systems and meters for linear systems.
+   *
+   * @return The acceleration gain in V/(units/s²).
    */
-  public void setKa(double ka) {
-    this.ka = ka;
+  public double getKa() {
+    return ka;
   }
 
   /**

wpimath/src/main/native/include/frc/controller/ArmFeedforward.h

@@ -245,60 +245,60 @@ class WPILIB_DLLEXPORT ArmFeedforward {
   }
 
   /**
-   * Returns the static gain.
+   * Sets the static gain.
    *
-   * @return The static gain.
+   * @param kS The static gain.
    */
-  constexpr units::volt_t GetKs() const { return kS; }
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
 
   /**
-   * Returns the static gain.
+   * Sets the gravity gain.
    *
-   * @param kS The static gain.
+   * @param kG The gravity gain.
    */
-  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
 
   /**
-   * Returns the gravity gain.
+   * Sets the velocity gain.
    *
-   * @return The gravity gain.
+   * @param kV The velocity gain.
    */
-  constexpr units::volt_t GetKg() const { return kG; }
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
 
   /**
-   * Returns the gravity gain.
+   * Sets the acceleration gain.
    *
-   * @param kG The gravity gain.
+   * @param kA The acceleration gain.
    */
-  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
 
   /**
-   * Returns the velocity gain.
+   * Returns the static gain.
    *
-   * @return The velocity gain.
+   * @return The static gain.
    */
-  constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
+  constexpr units::volt_t GetKs() const { return kS; }
 
   /**
-   * Returns the velocity gain.
+   * Returns the gravity gain.
    *
-   * @param kV The velocity gain.
+   * @return The gravity gain.
    */
-  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+  constexpr units::volt_t GetKg() const { return kG; }
 
   /**
-   * Returns the acceleration gain.
+   * Returns the velocity gain.
    *
-   * @return The acceleration gain.
+   * @return The velocity gain.
    */
-  constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
+  constexpr units::unit_t<kv_unit> GetKv() const { return kV; }
 
   /**
    * Returns the acceleration gain.
    *
-   * @param kA The acceleration gain.
+   * @return The acceleration gain.
    */
-  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+  constexpr units::unit_t<ka_unit> GetKa() const { return kA; }
 
  private:
   /// The static gain, in volts.