generateVoltageConstrainedForwardProfile
fun generateVoltageConstrainedForwardProfile(disps: List<Double>, beginVel: Double, kV: Double, kA: Double, maxVoltages: List<Double>): DisplacementProfile
Generates a voltage-constrained forward profile using motor model parameters.
Return
Voltage-constrained forward profile
Parameters
disps
Displacement interval endpoints
beginVel
Beginning velocity (non-negative)
kV
Velocity constant (velocity per unit voltage)
kA
Acceleration constant (acceleration per unit voltage)
maxVoltages
Maximum voltages at each displacement (all positive)