This class keeps the motion values position and velocity, and offers methods to increment these values towards a desired target position or velocity. More...

#include <Motion.h>

Public Member Functions
	Motion ()
	Creates a `Motion` object.
	Motion (double position, float velocity)
	Creates a `Motion` object with given values for position and velocity.
	Motion (double position, float velocity, float acceleration)
	Creates a `Motion` object with given values for position, velocity and acceleration.
	Motion (double position, float velocity, float profileVelocity, float profileAcceleration)
	Creates a `Motion` object with given values for position, velocity and acceleration.
	Motion (const Motion &motion)
	Creates a `Motion` object with given values for position and velocity.
void	set (double position, float velocity)
	Sets the values for position and velocity.
void	set (double position, float velocity, float acceleration)
	Sets the values for position, velocity and acceleration.
void	set (const Motion &motion)
	Sets the values for position, velocity and acceleration.
void	setPosition (double position)
	Sets the position value.
double	getPosition ()
	Gets the position value.
void	setVelocity (float velocity)
	Sets the velocity value.
float	getVelocity ()
	Gets the velocity value.
void	setAcceleration (float acceleration)
	Sets the acceleration value.
float	getAcceleration ()
	Gets the acceleration value.
void	setProfileVelocity (float profileVelocity)
	Sets the limit for the velocity value.
void	setProfileAcceleration (float profileAcceleration)
	Sets the limit for the acceleration value.
void	setProfileDeceleration (float profileDeceleration)
	Sets the limit for the deceleration value.
void	setLimits (float profileVelocity, float profileAcceleration, float profileDeceleration)
	Sets the limits for velocity, acceleration and deceleration values.
float	getTimeToPosition (double targetPosition)
	Gets the time needed to move to a given target position.
double	getDistanceToStop ()
	Gets the distance moved until the velocity reaches zero.
void	incrementToVelocity (float targetVelocity, float period)
	Increments the current motion towards a given target velocity.
void	incrementToPosition (double targetPosition, float period)
	Increments the current motion towards a given target position.
Data Fields
double	position
	The position value of this motion, given in [m] or [rad].
float	velocity
	The velocity value of this motion, given in [m/s] or [rad/s].
float	acceleration
	The acceleration value of this motion, given in [m/s] or [rad/s].

Detailed Description

This class keeps the motion values position and velocity, and offers methods to increment these values towards a desired target position or velocity.

To increment the current motion values, this class uses a simple 2nd order motion planner. This planner calculates the motion to the target position or velocity with the various motion phases, based on given limits for the profile velocity, acceleration and deceleration.
Note that the trajectory is calculated every time the motion state is incremented. This allows to change the target position or velocity, as well as the limits for profile velocity, acceleration and deceleration at any time.

Definition at line 27 of file Motion.h.

Constructor & Destructor Documentation

Motion ( )

Creates a Motion object.

The values for position, velocity and acceleration are set to 0.

Definition at line 23 of file Motion.cpp.

Motion	(	double	position,
		float	velocity
	)

Creates a Motion object with given values for position and velocity.

Parameters:

position	the initial position value of this motion, given in [m] or [rad].
velocity	the initial velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 39 of file Motion.cpp.

Motion	(	double	position,
		float	velocity,
		float	acceleration
	)

Creates a Motion object with given values for position, velocity and acceleration.

Parameters:

position	the initial position value of this motion, given in [m] or [rad].
velocity	the initial velocity value of this motion, given in [m/s] or [rad/s].
acceleration	the initial acceleration value of this motion, given in [m/s] or [rad/s].

Definition at line 56 of file Motion.cpp.

Motion	(	double	position,
		float	velocity,
		float	profileVelocity,
		float	profileAcceleration
	)

Creates a Motion object with given values for position, velocity and acceleration.

Parameters:

position	the initial position value of this motion, given in [m] or [rad].
velocity	the initial velocity value of this motion, given in [m/s] or [rad/s].
profileVelocity	the limit of the velocity.
profileAcceleration	the limit of the acceleration.
profileDeceleration	equal to profileAcceleration.

Definition at line 75 of file Motion.cpp.

Motion ( const Motion & motion )

Creates a Motion object with given values for position and velocity.

Parameters:

motion another Motion object to copy the values from.

Definition at line 90 of file Motion.cpp.

Member Function Documentation

float getAcceleration ( )

Gets the acceleration value.

Returns:: the acceleration value of this motion, given in [m/s] or [rad/s].

Definition at line 187 of file Motion.cpp.

double getDistanceToStop ( )

Gets the distance moved until the velocity reaches zero.

Returns:: the distance to the stop position.

Definition at line 333 of file Motion.cpp.

double getPosition ( )

Gets the position value.

Returns:: the position value of this motion, given in [m] or [rad].

Definition at line 151 of file Motion.cpp.

float getTimeToPosition ( double targetPosition )

Gets the time needed to move to a given target position.

Parameters:

targetPosition the desired target position given in [m] or [rad].

Returns:: the time to move to the target position, given in [s].

Definition at line 237 of file Motion.cpp.

float getVelocity ( )

Gets the velocity value.

Returns:: the velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 169 of file Motion.cpp.

void incrementToPosition	(	double	targetPosition,
		float	period
	)

Increments the current motion towards a given target position.

Parameters:

targetPosition	the desired target position given in [m] or [rad].
period	the time period to increment the motion values for, given in [s].

Definition at line 469 of file Motion.cpp.

void incrementToVelocity	(	float	targetVelocity,
		float	period
	)

Increments the current motion towards a given target velocity.

Parameters:

targetVelocity	the desired target velocity given in [m/s] or [rad/s].
period	the time period to increment the motion values for, given in [s].

Definition at line 343 of file Motion.cpp.

void set	(	double	position,
		float	velocity,
		float	acceleration
	)

Sets the values for position, velocity and acceleration.

Parameters:

position	the desired position value of this motion, given in [m] or [rad].
velocity	the desired velocity value of this motion, given in [m/s] or [rad/s].
acceleration	the desired acceleration value of this motion, given in [m/s] or [rad/s].

Definition at line 120 of file Motion.cpp.

void set ( const Motion & motion )

Sets the values for position, velocity and acceleration.

Parameters:

motion another Motion object to copy the values from.

Definition at line 131 of file Motion.cpp.

void set	(	double	position,
		float	velocity
	)

Sets the values for position and velocity.

Parameters:

position	the desired position value of this motion, given in [m] or [rad].
velocity	the desired velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 108 of file Motion.cpp.

void setAcceleration ( float acceleration )

Sets the acceleration value.

Parameters:

acceleration the desired acceleration value of this motion, given in [m/s] or [rad/s].

Definition at line 178 of file Motion.cpp.

void setLimits	(	float	profileVelocity,
		float	profileAcceleration,
		float	profileDeceleration
	)

Sets the limits for velocity, acceleration and deceleration values.

Parameters:

profileVelocity	the limit of the velocity.
profileAcceleration	the limit of the acceleration.
profileDeceleration	the limit of the deceleration.

Definition at line 225 of file Motion.cpp.

void setPosition ( double position )

Sets the position value.

Parameters:

position the desired position value of this motion, given in [m] or [rad].

Definition at line 142 of file Motion.cpp.

void setProfileAcceleration ( float profileAcceleration )

Sets the limit for the acceleration value.

Parameters:

profileAcceleration the limit of the acceleration.

Definition at line 205 of file Motion.cpp.

void setProfileDeceleration ( float profileDeceleration )

Sets the limit for the deceleration value.

Parameters:

profileDeceleration the limit of the deceleration.

Definition at line 214 of file Motion.cpp.

void setProfileVelocity ( float profileVelocity )

Sets the limit for the velocity value.

Parameters:

profileVelocity the limit of the velocity.

Definition at line 196 of file Motion.cpp.

void setVelocity ( float velocity )

Sets the velocity value.

Parameters:

velocity the desired velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 160 of file Motion.cpp.

Field Documentation

float acceleration

The acceleration value of this motion, given in [m/s] or [rad/s].

Definition at line 33 of file Motion.h.

double position

The position value of this motion, given in [m] or [rad].

Definition at line 31 of file Motion.h.

float velocity

The velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 32 of file Motion.h.

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	10 Mar 2020
Imports:	0
Forks:	0
Commits:	6
Dependents:	0
Dependencies:	1
Followers:	6

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Motion Class Reference

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Detailed Description

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Member Function Documentation

Field Documentation

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Motion Class Reference

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Data Fields

Detailed Description

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Member Function Documentation

Field Documentation

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