Varun Ahuja varun7654
varun7654
/ Varun_0xC306AC19_public.asc
Created
November 6, 2022 05:32
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varun7654
/ Drive.java
Last active
March 16, 2022 03:50
code for limiting the accleration of a swerve drive
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| @NotNull ChassisSpeeds lastRequestedVelocity = new ChassisSpeeds(0, 0, 0); | |
| private double lastLoopTime = 0; | |
| /** | |
| * Puts a limit on the acceleration. This method should be called before setting a chassis speeds to the robot drivebase. | |
| * <p> | |
| * Limits the acceleration by ensuring that the difference between the command and previous velocity doesn't exceed a | |
| * set acceleration * delata time since the last calculation | |
| * |