74 lines
2.4 KiB
C
74 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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#include <math.h>
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#include <stdio.h>
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#include <string.h>
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#include <pthread.h>
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#include "main.h"
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#include "movingmodel.h"
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#include "ramp.h"
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extern movemodel_t trapez;
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static void chkminmax(double *min, double *max){
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if(*min <= *max) return;
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double t = *min;
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*min = *max;
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*max = t;
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}
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movemodel_t *model_init(limits_t *l){
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if(!l) return FALSE;
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movemodel_t *m = calloc(1, sizeof(movemodel_t));
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// we can't use memcpy or assign as Times/Params would be common for all
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*m = trapez;
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m->Times = calloc(STAGE_AMOUNT, sizeof(double));
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m->Params = calloc(STAGE_AMOUNT, sizeof(moveparam_t));
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moveparam_t *max = &l->max, *min = &l->min;
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if(min->speed < 0.) min->speed = -min->speed;
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if(max->speed < 0.) max->speed = -max->speed;
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if(min->accel < 0.) min->accel = -min->accel;
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if(max->accel < 0.) max->accel = -max->accel;
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chkminmax(&min->coord, &max->coord);
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chkminmax(&min->speed, &max->speed);
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chkminmax(&min->accel, &max->accel);
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m->Min = l->min;
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m->Max = l->max;
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m->movingstage = STAGE_STOPPED;
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m->state = ST_STOP;
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pthread_mutex_init(&m->mutex, NULL);
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DBG("model inited");
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return m;
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}
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int model_move2(movemodel_t *model, moveparam_t *target, double t){
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if(!target || !model) return FALSE;
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DBG("MOVE to %g at speed %g", target->coord, target->speed);
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// only positive velocity
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if(target->speed < 0.) target->speed = -target->speed;
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if(fabs(target->speed) < model->Min.speed){
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DBG("STOP");
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model->stop(model, t);
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return TRUE;
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}
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// don't mind about acceleration - user cannot set it now
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return model->calculate(model, target, t);
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}
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