max
open fun maxAchievableAcceleration(@NonNull maxVoltage: Measure<Voltage>, @NonNull angle: Measure<Angle>, @NonNull velocity: Measure<Velocity<Angle>>): Measure<Velocity<Velocity<Angle>>>
Calculates the maximum achievable acceleration given a maximum voltage supply, a position, and a velocity. Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are simultaneously achievable - enter the velocity constraint, and this will give you a simultaneously-achievable acceleration constraint.
Return
The maximum possible acceleration at the given velocity.
Parameters
max
The maximum voltage that can be supplied to the arm.
angle
The angle of the arm.
velocity
The velocity of the arm.