Package edu.wpi.first.math.controller

Class DifferentialDriveAccelerationLimiter

java.lang.Object

edu.wpi.first.math.controller.DifferentialDriveAccelerationLimiter

public class DifferentialDriveAccelerationLimiter
extends 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 LinearSystemId.

Constructor Summary

Constructors

Constructor	Description
DifferentialDriveAccelerationLimiter(LinearSystem<N2,N2,N2> system, double trackwidth, double maxLinearAccel, double maxAngularAccel)	Constructs a DifferentialDriveAccelerationLimiter.
DifferentialDriveAccelerationLimiter(LinearSystem<N2,N2,N2> system, double trackwidth, double minLinearAccel, double maxLinearAccel, double maxAngularAccel)	Constructs a DifferentialDriveAccelerationLimiter.

Method Summary

Modifier and Type	Method	Description
DifferentialDriveWheelVoltages	calculate(double leftVelocity, double rightVelocity, double leftVoltage, double rightVoltage)	Returns the next voltage pair subject to acceleration constraints.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

DifferentialDriveAccelerationLimiter

public DifferentialDriveAccelerationLimiter(LinearSystem<N2,N2,N2> system, double trackwidth, double maxLinearAccel, double maxAngularAccel)

Constructs a DifferentialDriveAccelerationLimiter.

Parameters:

system - The differential drive dynamics.

trackwidth - The distance between the differential drive's left and right wheels in meters.

maxLinearAccel - The maximum linear acceleration in meters per second squared.

maxAngularAccel - The maximum angular acceleration in radians per second squared.

DifferentialDriveAccelerationLimiter

public DifferentialDriveAccelerationLimiter(LinearSystem<N2,N2,N2> system, double trackwidth, double minLinearAccel, double maxLinearAccel, double maxAngularAccel)

Constructs a DifferentialDriveAccelerationLimiter.

Parameters:

system - The differential drive dynamics.

trackwidth - The distance between the differential drive's left and right wheels in meters.

minLinearAccel - The minimum (most negative) linear acceleration in meters per second squared.

maxLinearAccel - The maximum (most positive) linear acceleration in meters per second squared.

maxAngularAccel - The maximum angular acceleration in radians per second squared.

Throws:

IllegalArgumentException - if minimum linear acceleration is greater than maximum linear acceleration

Method Details

calculate

public DifferentialDriveWheelVoltages calculate(double leftVelocity, double rightVelocity, double leftVoltage, double rightVoltage)

Returns the next voltage pair subject to acceleration constraints.

Parameters:

leftVelocity - The left wheel velocity in meters per second.

rightVelocity - The right wheel velocity in meters per second.

leftVoltage - The unconstrained left motor voltage.

rightVoltage - The unconstrained right motor voltage.

Returns:

The constrained wheel voltages.