frc::DifferentialDriveAccelerationLimiter Class Reference

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

#include <frc/controller/DifferentialDriveAccelerationLimiter.h>

Public Member Functions
	DifferentialDriveAccelerationLimiter (LinearSystem< 2, 2, 2 > system, units::meter_t trackwidth, units::meters_per_second_squared_t maxLinearAccel, units::radians_per_second_squared_t maxAngularAccel)
	Constructs a DifferentialDriveAccelerationLimiter. More...
	DifferentialDriveAccelerationLimiter (LinearSystem< 2, 2, 2 > system, units::meter_t trackwidth, units::meters_per_second_squared_t minLinearAccel, units::meters_per_second_squared_t maxLinearAccel, units::radians_per_second_squared_t maxAngularAccel)
	Constructs a DifferentialDriveAccelerationLimiter. More...
DifferentialDriveWheelVoltages	Calculate (units::meters_per_second_t leftVelocity, units::meters_per_second_t rightVelocity, units::volt_t leftVoltage, units::volt_t rightVoltage)
	Returns the next voltage pair subject to acceleraiton constraints. More...

Detailed Description

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 LinearSystemId.

Constructor & Destructor Documentation

DifferentialDriveAccelerationLimiter() [1/2]

frc::DifferentialDriveAccelerationLimiter::DifferentialDriveAccelerationLimiter	(	LinearSystem< 2, 2, 2 >	system,
		units::meter_t	trackwidth,
		units::meters_per_second_squared_t	maxLinearAccel,
		units::radians_per_second_squared_t	maxAngularAccel
	)

Constructs a DifferentialDriveAccelerationLimiter.

Parameters

system	The differential drive dynamics.
trackwidth	The distance between the differential drive's left and right wheels.
maxLinearAccel	The maximum linear acceleration.
maxAngularAccel	The maximum angular acceleration.

DifferentialDriveAccelerationLimiter() [2/2]

frc::DifferentialDriveAccelerationLimiter::DifferentialDriveAccelerationLimiter	(	LinearSystem< 2, 2, 2 >	system,
		units::meter_t	trackwidth,
		units::meters_per_second_squared_t	minLinearAccel,
		units::meters_per_second_squared_t	maxLinearAccel,
		units::radians_per_second_squared_t	maxAngularAccel
	)

Constructs a DifferentialDriveAccelerationLimiter.

Parameters

system	The differential drive dynamics.
trackwidth	The distance between the differential drive's left and right wheels.
minLinearAccel	The minimum (most negative) linear acceleration.
maxLinearAccel	The maximum (most positive) linear acceleration.
maxAngularAccel	The maximum angular acceleration.

Exceptions

std::invalid_argument

if minimum linear acceleration is greater than maximum linear acceleration

Member Function Documentation

Calculate()

DifferentialDriveWheelVoltages frc::DifferentialDriveAccelerationLimiter::Calculate	(	units::meters_per_second_t	leftVelocity,
		units::meters_per_second_t	rightVelocity,
		units::volt_t	leftVoltage,
		units::volt_t	rightVoltage
	)

Returns the next voltage pair subject to acceleraiton constraints.

Parameters

leftVelocity	The left wheel velocity.
rightVelocity	The right wheel velocity.
leftVoltage	The unconstrained left motor voltage.
rightVoltage	The unconstrained right motor voltage.

Returns

The constrained wheel voltages.

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The documentation for this class was generated from the following file:

• frc/controller/DifferentialDriveAccelerationLimiter.h