77 lines
2.7 KiB
C
77 lines
2.7 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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#include <pthread.h>
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#include "sidservo.h"
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// tolerance, time ticks
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#define COORD_TOLERANCE_DEFAULT (1e-8)
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#define COORD_TOLERANCE_MIN (1e-12)
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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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ST_STOP, // stopped
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ST_MOVE, // moving
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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 acceleration;
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} limits_t;
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typedef enum{
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STAGE_ACCEL, // start from last speed and accelerate/decelerate to target speed
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STAGE_MAXSPEED, // go with target speed
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STAGE_DECEL, // go from target speed to zero
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STAGE_STOPPED, // stop
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STAGE_AMOUNT
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} movingstage_t;
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typedef struct movemodel{
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moveparam_t Min;
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moveparam_t Max;
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movingstage_t movingstage;
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movestate_t state;
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double *Times;
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moveparam_t *Params;
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moveparam_t curparams; // init values of limits, jerk
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int (*calculate)(struct movemodel *m, moveparam_t *target, double t); // calculate stages of traectory beginning from t
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movestate_t (*proc_move)(struct movemodel *m, moveparam_t *next, double t); // calculate next model point for time t
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movestate_t (*get_state)(struct movemodel *m, moveparam_t *cur); // get current moving state
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void (*stop)(struct movemodel *m, double t); // stop by ramp
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void (*emergency_stop)(struct movemodel *m, double t); // stop with highest acceleration
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double (*stoppedtime)(struct movemodel *m); // time when moving will ends
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pthread_mutex_t mutex;
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} movemodel_t;
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movemodel_t *model_init(limits_t *l);
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int model_move2(movemodel_t *model, moveparam_t *target, double t);
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