Almost done trapezioidal model

moving_model/Dramp.c

@@ -78,7 +78,7 @@ static int calc(moveparam_t *x, double t){
             T1 = t + ticks_need * time_tick;
         }
     }
-    state = ST_CONSTSPEED;
+    state = ST_MOVE;
     Xlast0 = curparams.coord;
     if(target.speed > Min.speed) movingstage = STAGE_NORMALSPEED;
     else movingstage = STAGE_MINSPEED;
@@ -87,7 +87,7 @@ static int calc(moveparam_t *x, double t){
     return TRUE;
 }
 
-static void stop(){
+static void stop(double _U_ t){
     T0 = -1.;
     curparams.accel = 0.;
     curparams.speed = 0.;
@@ -104,7 +104,7 @@ static movestate_t proc(moveparam_t *next, double t){
     else{ if(curparams.coord > target.coord) ooops = TRUE; }
     if(ooops){
         DBG("OOOps! We are (%g) over target (%g) -> stop", curparams.coord, target.coord);
-        stop();
+        stop(t);
         if(next) *next = curparams;
         return state;
     }
@@ -120,7 +120,7 @@ static movestate_t proc(moveparam_t *next, double t){
     }
     if(fabs(curparams.coord - target.coord) < coord_tolerance){ // we are at place
         DBG("OK, we are in place");
-        stop();
+        stop(t);
     }
     if(next) *next = curparams;
     return state;