0.3.4

core/gay.zharel.hermes.kinematics/VoltageConstraint

VoltageConstraint

class VoltageConstraint<WI : WheelIncrements<*>, WV : WheelVelocities<*>>(val kinematics: RobotKinematics<WI, WV>, val feedforward: MotorFeedforward, val maxVoltage: Double, val fallbackAccel: Double = 50.0) : AccelConstraint

Constructors

VoltageConstraint

constructor(kinematics: RobotKinematics<WI, WV>, feedforward: MotorFeedforward, maxVoltage: Double, fallbackAccel: Double = 50.0)

Properties

val fallbackAccel: Double = 50.0

val feedforward: MotorFeedforward

val kinematics: RobotKinematics<WI, WV>

val maxVoltage: Double

Functions

minMaxProfileAccel

open override fun minMaxProfileAccel(robotState: RobotState, path: PosePath, s: Double): MinMax

Returns the minimum and maximum profile acceleration at the specified state and path position.