core / com.acmerobotics.roadrunner.trajectory.constraints / TankVelocityConstraint

TankVelocityConstraint

open class TankVelocityConstraint : TrajectoryVelocityConstraint (source)

Tank-specific drive constraints that also limit maximum wheel velocities.

Parameters

maxWheelVel - maximum wheel velocity

trackWidth - track width

Constructors

<init>

Tank-specific drive constraints that also limit maximum wheel velocities.

TankVelocityConstraint(maxWheelVel: Double, trackWidth: Double)

Functions

get

Returns the maximum profile velocity.

open fun get(s: Double, pose: Pose2d, deriv: Pose2d, baseRobotVel: Pose2d): Double