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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 | |
* |