Motor Safety Wrapper

Disclaimer: WIP and untested; tune limits on your robot. Custom code built on WPILib APIs.

Code (Java)

public class MotorSafety {
  private final SlewRateLimiter slew;
  private final double clamp;

  public MotorSafety(double maxChangePerSec, double clamp) {
    this.slew = new SlewRateLimiter(maxChangePerSec);
    this.clamp = clamp;
  }

  public double safe(double requested) {
    double c = MathUtil.clamp(requested, -clamp, clamp);
    return slew.calculate(c);
  }
}