DriveVelocityConstraint

Drive constraint that limits maximum wheel velocities.

maxWheelVel

maximum wheel velocity

Constructors

public final static DriveVelocityConstraint forMecanum(Double maxWheelVel, Double trackWidth, Double wheelBase, Double lateralMultiplier)

public final static DriveVelocityConstraint forSwerve(Double maxWheelVel, List<Vector2d> modulePositions)

public final static DriveVelocityConstraint forTank(Double maxWheelVel, Double trackWidth)

public Double get(Pose2d pose, Pose2d deriv, Pose2d lastDeriv, Double ds, Pose2d baseRobotVel)

Returns the maximum profile velocity.