Move the library to the separate repository

2026-03-12 08:49:36 +03:00
commit 4dcb7d4444
98 changed files with 9089 additions and 0 deletions
--- a/PID_test.deprecated/moving.h
+++ b/PID_test.deprecated/moving.h
@@ -0,0 +1,70 @@
+/*
+ * This file is part of the moving_model project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// tolerance, time ticks
+#define COORD_TOLERANCE_DEFAULT (0.01)
+#define COORD_TOLERANCE_MIN     (0.0001)
+#define COORD_TOLERANCE_MAX     (10.)
+#define TIME_TICK_DEFAULT       (0.0001)
+#define TIME_TICK_MIN           (1e-9)
+#define TIME_TICK_MAX           (10.)
+
+typedef enum{
+    RAMP_DUMB,          // no ramp: infinite acceleration/deceleration
+    RAMP_TRAPEZIUM,     // trapezium ramp
+    RAMP_S,             // s-shaped ramp
+    RAMP_AMOUNT
+} ramptype_t;
+
+typedef enum{
+    ST_STOP,            // stopped
+    ST_MOVE,            // moving
+    ST_AMOUNT
+} movestate_t;
+
+typedef struct{ // all values could be both as positive and negative
+    double coord;
+    double speed;
+    double accel;
+} moveparam_t;
+
+typedef struct{
+    moveparam_t min;
+    moveparam_t max;
+    double jerk;
+} limits_t;
+
+typedef struct{
+    int (*init_limits)(limits_t *lim);                      // init values of limits, jerk
+    int (*calculate)(moveparam_t *target, double t);        // calculate stages of traectory beginning from t
+    movestate_t (*proc_move)(moveparam_t *next, double t);  // calculate next model point for time t
+    movestate_t (*get_state)(moveparam_t *cur);             // get current moving state
+    void (*stop)(double t);                                 // stop by ramp
+    void (*emergency_stop)(double t);                       // stop with highest acceleration
+    double (*stoppedtime)();                                // time when moving will ends
+} movemodel_t;
+
+extern double coord_tolerance;
+
+double nanot();
+movemodel_t *init_moving(ramptype_t type, limits_t *l);
+int init_coordtol(double tolerance);
+int init_timetick(double tick);
+int move_to(moveparam_t *target, double t);