DifferentialDriveKinematicsConstraint

class wpimath.DifferentialDriveKinematicsConstraint(kinematics: wpimath._wpimath.DifferentialDriveKinematics, max_velocity: wpimath.units.meters_per_second)

Bases: TrajectoryConstraint

A class that enforces constraints on the differential drive kinematics. This can be used to ensure that the trajectory is constructed so that the commanded velocities for both sides of the drivetrain stay below a certain limit.

static from_fps(kinematics: wpimath._wpimath.DifferentialDriveKinematics, max_velocity: wpimath.units.feet_per_second) → wpimath._wpimath.DifferentialDriveKinematicsConstraint

max_velocity(pose: wpimath._wpimath.Pose2d, curvature: wpimath.units.radians_per_meter, velocity: wpimath.units.meters_per_second) → wpimath.units.meters_per_second

min_max_acceleration(pose: wpimath._wpimath.Pose2d, curvature: wpimath.units.radians_per_meter, velocity: wpimath.units.meters_per_second) → wpimath._wpimath.TrajectoryConstraint.MinMax