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Indeed? The moving model works???

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This commit is contained in:
Edward V. Emelianov
2025-08-06 15:05:37 +03:00
parent 6315d5e18e
commit 2fee216924
5 changed files with 139 additions and 175 deletions
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4
LibSidServo/movingmodel.h
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@@ -48,7 +48,7 @@ typedef struct{
} limits_t;
typedef enum{
STAGE_ACCEL, // start from zero speed and accelerate to Max speed
STAGE_ACCEL, // start from last speed and accelerate/decelerate to target speed
STAGE_MAXSPEED, // go with target speed
STAGE_DECEL, // go from target speed to zero
STAGE_STOPPED, // stop
@@ -68,7 +68,7 @@ typedef struct movemodel{
movestate_t (*get_state)(struct movemodel *m, moveparam_t *cur); // get current moving state
void (*stop)(struct movemodel *m, double t); // stop by ramp
void (*emergency_stop)(struct movemodel *m, double t); // stop with highest acceleration
double (*stoppedtime)(struct movemodel *m); // time when moving will ends
double (*stoppedtime)(struct movemodel *m); // time when moving will ends
pthread_mutex_t mutex;
} movemodel_t;