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[wpimath] Add minLinearAccel parameter to DifferentialDriveAccelerationLimiter (#4422)

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This commit is contained in:
Ryan Blue
2022-10-10 11:57:37 -04:00
committed by GitHub
parent 2a13dba8ac
commit 27b173374e
5 changed files with 246 additions and 6 deletions
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19
wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h
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@@ -40,6 +40,24 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
units::meters_per_second_squared_t maxLinearAccel,
units::radians_per_second_squared_t maxAngularAccel);
/**
* Constructs a DifferentialDriveAccelerationLimiter.
*
* @param system The differential drive dynamics.
* @param trackwidth The distance between the differential drive's left and
* right wheels.
* @param minLinearAccel The minimum (most negative) linear acceleration.
* @param maxLinearAccel The maximum (most positive) linear acceleration.
* @param maxAngularAccel The maximum angular acceleration.
* @throws std::invalid_argument if minimum linear acceleration is greater
* than maximum linear acceleration
*/
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);
/**
* Returns the next voltage pair subject to acceleraiton constraints.
*
@@ -57,6 +75,7 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
private:
LinearSystem<2, 2, 2> m_system;
units::meter_t m_trackwidth;
units::meters_per_second_squared_t m_minLinearAccel;
units::meters_per_second_squared_t m_maxLinearAccel;
units::radians_per_second_squared_t m_maxAngularAccel;
};