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https://github.com/wpilibsuite/allwpilib
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9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
36 lines
1.1 KiB
YAML
36 lines
1.1 KiB
YAML
classes:
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wpi::math::SwerveDriveKinematicsConstraint:
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template_params:
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- size_t NumModules
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typealias:
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- wpi::math::TrajectoryConstraint::MinMax
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methods:
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SwerveDriveKinematicsConstraint:
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MaxVelocity:
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MinMaxAcceleration:
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template_inline_code: |
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cls_SwerveDriveKinematicsConstraint
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.def_static("fromFps", [](const wpi::math::SwerveDriveKinematics<NumModules>& kinematics,
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wpi::units::feet_per_second_t maxVelocity) {
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return std::make_shared<wpi::math::SwerveDriveKinematicsConstraint<NumModules>>(kinematics, maxVelocity);
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}, py::arg("kinematics"), py::arg("maxVelocity"))
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;
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templates:
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SwerveDrive2KinematicsConstraint:
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qualname: wpi::math::SwerveDriveKinematicsConstraint
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params:
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- 2
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SwerveDrive3KinematicsConstraint:
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qualname: wpi::math::SwerveDriveKinematicsConstraint
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params:
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- 3
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SwerveDrive4KinematicsConstraint:
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qualname: wpi::math::SwerveDriveKinematicsConstraint
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params:
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- 4
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SwerveDrive6KinematicsConstraint:
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qualname: wpi::math::SwerveDriveKinematicsConstraint
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params:
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- 6
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