71 lines
2.4 KiB
C
71 lines
2.4 KiB
C
/*
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* This file is part of the moving_model project.
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* Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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// tolerance, time ticks
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#define COORD_TOLERANCE_DEFAULT (0.01)
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#define COORD_TOLERANCE_MIN (0.0001)
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#define COORD_TOLERANCE_MAX (10.)
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#define TIME_TICK_DEFAULT (0.0001)
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#define TIME_TICK_MIN (1e-9)
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#define TIME_TICK_MAX (10.)
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typedef enum{
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RAMP_DUMB, // no ramp: infinite acceleration/deceleration
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RAMP_TRAPEZIUM, // trapezium ramp
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RAMP_S, // s-shaped ramp
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RAMP_AMOUNT
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} ramptype_t;
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typedef enum{
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ST_STOP, // stopped
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ST_ACC, // accelerated
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ST_CONSTSPEED, // moving with constant speed
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ST_DEC, // decelerated
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ST_ERROR, // some error -> stop
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ST_AMOUNT
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} movestate_t;
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typedef struct{
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double coord;
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double speed;
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double accel;
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} moveparam_t;
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typedef struct{
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moveparam_t min;
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moveparam_t max;
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double jerk;
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} limits_t;
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typedef struct{
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int (*init_limits)(limits_t *lim); // init values of limits, jerk
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int (*calculate)(moveparam_t *target, double t); // calculate stages of traectory beginning from t
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movestate_t (*proc_move)(moveparam_t *next, double t); // calculate next model point for time t
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movestate_t (*get_state)(moveparam_t *cur); // get current moving state
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void (*stop)(); // stop by ramp
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void (*emergency_stop); // stop with highest acceleration
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} movemodel_t;
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double nanot();
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movemodel_t *init_moving(ramptype_t type, limits_t *l);
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int init_coordtol(double tolerance);
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int init_timetick(double tick);
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int move_to(moveparam_t *target);
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