DifferentialDriveAccelerationLimiter

class wpimath.DifferentialDriveAccelerationLimiter(*args, **kwargs)

Bases: pybind11_object

Filters the provided voltages to limit a differential drive’s linear and angular acceleration.

The differential drive model can be created via the functions in Models.

Overloaded function.

  1. __init__(self: wpimath._wpimath.DifferentialDriveAccelerationLimiter, system: wpimath._wpimath.LinearSystem_2_2_2, trackwidth: wpimath.units.meters, max_linear_accel: wpimath.units.meters_per_second_squared, max_angular_accel: wpimath.units.radians_per_second_squared) -> None

Constructs a DifferentialDriveAccelerationLimiter.

Parameters:

  • system – The differential drive dynamics.

  • trackwidth – The distance between the differential drive’s left and right wheels.

  • max_linear_accel – The maximum linear acceleration.

  • max_angular_accel – The maximum angular acceleration.

  1. __init__(self: wpimath._wpimath.DifferentialDriveAccelerationLimiter, system: wpimath._wpimath.LinearSystem_2_2_2, trackwidth: wpimath.units.meters, min_linear_accel: wpimath.units.meters_per_second_squared, max_linear_accel: wpimath.units.meters_per_second_squared, max_angular_accel: wpimath.units.radians_per_second_squared) -> None

Constructs a DifferentialDriveAccelerationLimiter.

Parameters:

  • system – The differential drive dynamics.

  • trackwidth – The distance between the differential drive’s left and right wheels.

  • min_linear_accel – The minimum (most negative) linear acceleration.

  • max_linear_accel – The maximum (most positive) linear acceleration.

  • max_angular_accel – The maximum angular acceleration. @throws std::invalid_argument if minimum linear acceleration is greater than maximum linear acceleration

calculate(left_velocity: wpimath.units.meters_per_second, right_velocity: wpimath.units.meters_per_second, left_voltage: wpimath.units.volts, right_voltage: wpimath.units.volts) → wpimath._wpimath.DifferentialDriveWheelVoltages

Returns the next voltage pair subject to acceleration constraints.

Parameters:

  • left_velocity – The left wheel velocity.

  • right_velocity – The right wheel velocity.

  • left_voltage – The unconstrained left motor voltage.

  • right_voltage – The unconstrained right motor voltage.

Returns:

The constrained wheel voltages.