SwerveDrive2KinematicsConstraint

class wpimath.SwerveDrive2KinematicsConstraint(kinematics: wpimath._wpimath.SwerveDrive2Kinematics, maxVelocity: wpimath.units.meters_per_second)

Bases: TrajectoryConstraint

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

static fromFps(kinematics: wpimath._wpimath.SwerveDrive2Kinematics, maxVelocity: wpimath.units.feet_per_second) → wpimath._wpimath.SwerveDrive2KinematicsConstraint

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

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