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T-ramp tested, seems like it works fine

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eddyem
2025-04-14 21:39:06 +03:00
parent 76ddd60c7d
commit a496c5cc54
7 changed files with 249 additions and 133 deletions
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28
moving_model/main.c
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@@ -34,12 +34,12 @@ typedef struct{
static pars G = {
.ramptype = "d",
.dT = 100000,
.dT = 10000,
};
static limits_t limits = {
.min = {.coord = -1e6, .speed = 0.1, .accel = 0.1},
.max = {.coord = 1e6, .speed = 1e3, .accel = 10.},
.max = {.coord = 1e6, .speed = 1e3, .accel = 50.},
.jerk = 10.
};
@@ -56,6 +56,7 @@ static int move(moveparam_t *tag){
if(!tag) ERRX("move(): needs target");
moveparam_t curpos;
movestate_t curstate = model->get_state(&curpos);
if(curstate == ST_MOVE) printf("Current state: moving; recalculte new parameters\n");
if(!move_to(tag)){
WARNX("move(): can't move to %g with max speed %g", tag->coord, tag->speed);
return FALSE;
@@ -91,7 +92,7 @@ int main(int argc, char **argv){
if(!coordslog) ERR("Can't open %s", G.xlog);
} else coordslog = stdout;
if(G.dT < 1) G.dT = 1;
fprintf(coordslog, "# time coordinate speed acceleration\n");
fprintf(coordslog, "time coordinate speed acceleration\n");
ramptype_t ramp = RAMP_AMOUNT;
if(*G.ramptype == 'd' || *G.ramptype == 'D') ramp = RAMP_DUMB;
else if(*G.ramptype == 't' || *G.ramptype == 'T') ramp = RAMP_TRAPEZIUM;
@@ -100,13 +101,22 @@ int main(int argc, char **argv){
model = init_moving(ramp, &limits);
if(!model) ERRX("Can't init moving model: check parameters");
Tstart = nanot();
moveparam_t target = {.speed = 100., .coord = 1000};
moveparam_t target = {.speed = 10., .coord = 20.};
if(move(&target)) monit(0.5);
for(int i = 0; i < 10; ++i){
target.coord = -target.coord;
if(move(&target)) monit(1.);
}
target.coord = 0.; target.speed = 20.;
if(move(&target)) monit(100.);
return 0;
if(move(&target)) monit(1.);
target.speed = 15.;
target.coord = 30.;
if(move(&target)) monit(1.);
target.coord = 0.;
if(move(&target)) monit(1.5);
target.speed = 500.;
if(move(&target)) monit(2.5);
target.coord = -100.;
if(move(&target)) monit(4.);
target.coord = 0.; target.speed = -200.;
target.coord = 0.; target.speed = 20.;
if(move(&target)) monit(1e6);
usleep(5000);
fclose(coordslog);