Package frc.lib5k.kinematics.motionprofiling

Class MotionConstraints

java.lang.Object

frc.lib5k.kinematics.motionprofiling.MotionConstraints

public class MotionConstraints
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
MotionConstraints(double max_velocity, double max_acceleration, double max_jerk)	Create a MotionConstraints object

Method Summary

Modifier and Type	Method	Description
double	getMaxAccel()
double	getMaxJerk()
double	getMaxVelocity()
void	setMaxAccel(double max_acc)
void	setMaxJerk(double max_jerk)
void	setMaxVelocity(double max_vel)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

MotionConstraints

public MotionConstraints(double max_velocity,
                         double max_acceleration,
                         double max_jerk)

Create a MotionConstraints object

Parameters:

max_velocity - Maximum velocity in m/s

max_acceleration - Maximum acceleration in m/s/s

max_jerk - Maximum jerk in m/s/s/s (A good starting point is 60)

Method Detail

getMaxAccel

public double getMaxAccel()

setMaxAccel

public void setMaxAccel(double max_acc)

getMaxJerk

public double getMaxJerk()

setMaxJerk

public void setMaxJerk(double max_jerk)

getMaxVelocity

public double getMaxVelocity()

setMaxVelocity

public void setMaxVelocity(double max_vel)