for Infotag

Dependencies:   Library_Cntrl Library_Misc

Files at this revision

API Documentation at this revision

Comitter:
altb2
Date:
Thu Feb 25 20:28:45 2021 +0000
Parent:
4:3d8dd3d17564
Commit message:
first commit of Mirror actuator

Changed in this revision

ControllerLoop.cpp Show annotated file Show diff for this revision Revisions of this file
ControllerLoop.h Show annotated file Show diff for this revision Revisions of this file
Library_Cntrl.lib Show annotated file Show diff for this revision Revisions of this file
Library_Misc.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed-os.lib Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show diff for this revision Revisions of this file
path_1d.cpp Show annotated file Show diff for this revision Revisions of this file
path_1d.h Show annotated file Show diff for this revision Revisions of this file
diff -r 3d8dd3d17564 -r 768e10f6d372 ControllerLoop.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ControllerLoop.cpp	Thu Feb 25 20:28:45 2021 +0000
@@ -0,0 +1,52 @@
+#include "ControllerLoop.h"
+using namespace std;
+
+
+
+ControllerLoop::ControllerLoop(float Ts) : thread(osPriorityNormal,4096)
+{
+    thread.start(callback(this, &ControllerLoop::loop));
+    ticker.attach(callback(this, &ControllerLoop::sendSignal), Ts);
+    diff1.reset(0.0f,0);
+    diff2.reset(0.0f,0);
+    }
+
+
+ControllerLoop::~ControllerLoop() {}
+
+
+void ControllerLoop::loop(void){
+    float Kp = 1500 * 4.89e-7/0.094;   // XX * J/km
+    float Tn = .0035;
+    float Kv=50;
+    float phi_des = 0;
+    float v_des = 0;
+    PID_Cntrl v_cntrl(Kp,Tn,0,1.0,Ts,-.95,.95);
+    Unwrapper_2pi uw2pi;
+    uint8_t k = 0;
+    while(1)
+        {
+        ThisThread::flags_wait_any(threadFlag);
+        // THE LOOP ------------------------------------------------------------
+        if(++k%64==0)
+            {
+                printf("%f %f\r\n",phi_des,v_des);
+            }
+        short c1 = counter1;            // get counts from Encoder
+        short c2 = counter2;            // get counts from Encoder
+        float phi1 = uw2pi(2*3.1415927/4000.0*(float)c1);
+        float vel1 = diff1(c1);                 // motor velocity 
+        float phi2 = uw2pi(2*3.1415927/4000.0*(float)c2);
+        float vel2 = diff2(c2);                 // motor velocity 
+        float w0=2*3.1415927 * 3;
+        //phi_des = 1.0*sinf(w0*ti.read());
+        current_path->get_x_v(glob_ti.read(),&phi_des,&v_des);
+        float i1 = v_cntrl(Kv * (phi_des-phi2)+v_des-vel2 );
+        //float i1 = v_cntrl(v_des-vel ) + exc;
+        i_des2.write(i2pwm(-i1));
+        }
+}
+
+void ControllerLoop::sendSignal() {
+    thread.flags_set(threadFlag);
+}
diff -r 3d8dd3d17564 -r 768e10f6d372 ControllerLoop.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ControllerLoop.h	Thu Feb 25 20:28:45 2021 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+#include "EncoderCounter.h"
+#include "EncoderCounterIndex.h"
+#include "DiffCounter.h"
+#include "LinearCharacteristics.h"
+#include "ThreadFlag.h"
+#include "path_1d.h"
+#include "PID_Cntrl.h"
+#include "Unwrapper_2pi.h"
+
+
+
+extern EncoderCounter counter1,counter2;
+extern EncoderCounterIndex index1,index2;
+extern DiffCounter diff1,diff2;
+extern path_1d *current_path;
+extern LinearCharacteristics i2pwm;
+extern PwmOut i_des1, i_des2;
+extern DigitalOut i_enable;
+extern Timer glob_ti;
+
+// This is the loop class, it is not a controller at first hand, it guarantees a cyclic call
+class ControllerLoop
+{
+public:
+    ControllerLoop(float Ts);
+    virtual     ~ControllerLoop();
+
+
+private:
+    void loop(void);
+    Thread thread;
+    Ticker ticker;
+    ThreadFlag threadFlag;
+    Timer ti;
+    float Ts;
+    void sendSignal();
+
+};
diff -r 3d8dd3d17564 -r 768e10f6d372 Library_Cntrl.lib
--- a/Library_Cntrl.lib	Wed Nov 06 08:00:26 2019 +0000
+++ b/Library_Cntrl.lib	Thu Feb 25 20:28:45 2021 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/altb2/code/Library_Cntrl/#a201a6cd4c0c
+https://os.mbed.com/users/altb2/code/Library_Cntrl/#b54eb3e24d2d
diff -r 3d8dd3d17564 -r 768e10f6d372 Library_Misc.lib
--- a/Library_Misc.lib	Wed Nov 06 08:00:26 2019 +0000
+++ b/Library_Misc.lib	Thu Feb 25 20:28:45 2021 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/altb2/code/Library_Misc/#dd5d116ace8f
+https://os.mbed.com/users/altb2/code/Library_Misc/#29602f4ade5c
diff -r 3d8dd3d17564 -r 768e10f6d372 main.cpp
--- a/main.cpp	Wed Nov 06 08:00:26 2019 +0000
+++ b/main.cpp	Thu Feb 25 20:28:45 2021 +0000
@@ -4,259 +4,107 @@
 #define PI 3.1415927f
 //------------------------------------------
 #include "EncoderCounter.h"
+#include "EncoderCounterIndex.h"
 #include "DiffCounter.h"
 #include "IIR_filter.h"
 #include "LinearCharacteristics.h"
-#include "PI_Cntrl.h"
-// #include "GPA.h"
-// define STATES:
-#define INIT 0              // at very beginning
-#define FLAT 10             // cuboid is flat, motor is controlled to zero
-#define BALANCE 20          // balancing
-#define SWING_DOWN 30       // move cuboid down
- 
- 
-/* Cuboid balance on one edge on Nucleo F446RE
- 
- **** IMPORTANT: use ..\Labormodelle\RT-MOD054 - Würfel\Escon_Parameter_4nucleo.edc 
-                 settings for Maxon ESCON controller (upload via ESCON Studio) ****
-hardware Connections:
+#include "PID_Cntrl.h"
+#include "Unwrapper_2pi.h"
+#include "path_1d.h"
+#include "GPA.h"
+#include "ControllerLoop.h"
+
+
  
- CN7                    CN10
-  :                         :
-  :                         :
- ..                        ..
- ..                        ..                  15.
- ..    AOUT i_des on (PA_5)o.
- ..                        ..
- ..                        ..
- ..               ENC CH A o.
- o. GND                    ..                  10.
- o. ENC CH B               ..
- ..                        ..
- ..                        ..
- .o AIN acx (PA_0)         ..
- .o AIN acy (PA_1)         ..                  5.
- .o AIN Gyro(PA_4)         .o Analog GND
- ..                        ..
- ..                        ..
- ..                        ..                  1.
- ----------------------------
- CN7               CN10
- */
-Serial pc(SERIAL_TX, SERIAL_RX);        // serial connection via USB - programmer
-InterruptIn button(USER_BUTTON);        // User Button, short presses: reduce speed, long presses: increase speed
+Serial pc(USBTX, USBRX,115200);
+InterruptIn button(USER_BUTTON);        // User Button, short and long presses!
 bool key_was_pressed = false;
-AnalogIn ax(PA_0);                      // Analog IN (acc x) on PA_0
-AnalogIn ay(PA_1);                      // Analog IN (acc y) on PA_1
-AnalogIn gz(PA_4);                      // Analog IN (gyr z) on PA_4
-AnalogOut out(PA_5);                    // Analog OUT on PA_5   1.6 V -> 0A 3.2A -> 2A (see ESCON)
-float out_value = 1.6f;                 // set voltage on 1.6 V (0 A current)
-float w_soll = 10.0f;                   // desired velocity
-float Ts = 0.002f;                      // sample time of main loops
-int k = 0;
-float phi1_des = 0.0f;
-int CS = INIT;
-void pressed(void);             // user Button pressed
-void released(void);            // user Button released
- 
- 
-//------------------------------------------
-// ... here define variables like gains etc.
-//------------------------------------------
-LinearCharacteristics i2u(-15.0f,15.0f,0.0f,3.2f / 3.3f);       // output is normalized output
-LinearCharacteristics u2ax(0.29719f,0.69768f,-9.81f,9.81f);     // use normalized input
-LinearCharacteristics u2ay(0.29890,0.70330f,-9.81f,9.81f);      // use normalized input
-LinearCharacteristics u2gz(-4.6517f * 3.3f,0.45495f);           // use normalized input
-                // 4.6517f = 1/3.752e-3 [V / °/s] * pi/180
- 
-//-------------DEFINE FILTERS----------------
-float tau = 1.0f;
-IIR_filter f_ax(tau,Ts,1.0f);        // filter ax signals
-IIR_filter f_ay(tau,Ts,1.0f);        // filter ay signals
-IIR_filter f_gz(tau,Ts,tau);    // filter gz signals
-//------------------------------------------
-float vel = 0.0f;                  // velocity of motor
-float gyro = 0.0f;
-float phi1 = 0.0f;
-//------------------------------------------
-Ticker  ControllerLoopTimer;            // interrupt for control loop
-EncoderCounter counter1(PB_6, PB_7);    // initialize counter on PB_6 and PB_7
-DiffCounter diff(0.01,Ts);              // discrete differentiate, based on encoder data
-Timer ti;                               // define global timer
-Timer t_but;                            // define global timer
-PI_Cntrl vel_cntrl(0.5f,.05f,Ts,0.5f);  // velocity controller for motor
-PI_Cntrl om2zero(-0.02f,4.0f,Ts,0.9f);  // slow vel. contrl. to bring motor to zero
+float Ts=.001;                         // sampling time
+void pressed(void);
+void released(void); 
+float vel;
+//------------- DEFINE FILTERS ----------------
+// missing
+//-----------------------------------
+Timer glob_ti;
+EncoderCounter counter1(PA_6, PC_7);    // initialize counter on PA_6 and PC_7
+InterruptIn indexpulse1(PA_8);
+EncoderCounterIndex index1(counter1,indexpulse1);   
+//
+EncoderCounter counter2(PB_6, PB_7);    // initialize counter on PB_6 and PB_7
+InterruptIn indexpulse2(PB_4);
+EncoderCounterIndex index2(counter2,indexpulse2);    // initialize counter on PA_6 and PC_7
+//
+DiffCounter diff1(0.0008,Ts);              // discrete differentiate, based on encoder1 data
+DiffCounter diff2(0.0008,Ts);              // discrete differentiate, based on encoder2 data
+LinearCharacteristics i2pwm(-1.0,1.0,0.01,0.99,.01,.99);
+//
+PwmOut i_des1(PB_10);
+PwmOut i_des2(PA_15);
+DigitalOut i_enable(PC_4);
+float data[2000][4];
+Unwrapper_2pi uw2pi;
 //------------------------------------------
 // ----- User defined functions -----------
-void updateLoop(void);   // loop for State machine (via interrupt)
-float cuboid_stab_cntrl(int);   // stabalizer 
-void calc_angle_phi1(int);
-// ------ END User defined functions ------
- 
+ControllerLoop loop(Ts);
+path_1d p1;
+path_1d p2;
+path_1d *current_path;
+float A = 2.7;
+float dc=0.0;
+//GPA myGPA(1, 2500, 100, 30, 20, Ts);
+//GPA myGPA(5, 2500, 80, 0.3, 0.3, Ts);
+float exc=0.0;              // excitation GPA
+//        f1    f2  N  A1  A2  Ts
+
+// *****************************************************************************
+void rise_edge(void)
+    {
+     //glob_ti.reset();
+     }
+// *****************************************************************************
+void fall_edge(void)
+   {
+        uint32_t time_us = glob_ti.read_us();
+        dc = (float)time_us/200.0f;
+    }
+//InterruptIn i_des2(PA_6);
+
+
 //******************************************************************************
 //---------- main loop -------------
 //******************************************************************************
 int main()
 {
-    pc.baud(2000000);   // for serial comm.
+    i_des1.period_us(200);
+    i_des2.period_us(200);      // PWM Frequency of i_desired
+    i_enable = 0;               // disable current first
     counter1.reset();   // encoder reset
-    diff.reset(0.0f,0);  
-    ControllerLoopTimer.attach(&updateLoop, Ts); //Assume Fs = ...;
-    ti.reset();
-    ti.start();
-    calc_angle_phi1(1);
-    button.fall(&pressed);          // attach key pressed function
-    button.rise(&released);         // attach key pressed function
+    counter2.reset();   // encoder reset
+    ThisThread::sleep_for(100);
+    i_enable = 1;
+    
+    glob_ti.start();
+    glob_ti.reset();
+    printf("Start Mirror\r\n");
+    p1.initialize(300,10,A,0,0,0);
+    p2.initialize(300,10,-A,0,0,A);
+    for(int wk =0;wk<10;wk++)
+        {
+        current_path = &p1;
+        current_path->start(glob_ti.read());
+        while(!current_path->finished)
+            wait(.1);
+        current_path = &p2;
+        current_path->start(glob_ti.read());
+        while(!current_path->finished)
+            wait(.1);
+        ThisThread::sleep_for(100);
+        }
+    i_enable = 0;
+    while(1)
+        wait(1);
+
+
     
 }   // END OF main
-//******************************************************************************
-//---------- main loop (called via interrupt) -------------
-//******************************************************************************
-void updateLoop(void){
-    short counts = counter1;            // get counts from Encoder
-    vel = diff(counts);                 // motor velocity 
-    float torq = 0.0f;                  // set motor torque to zero (will be overwritten)
-    float dt  = ti.read();              // time elapsed in current state
-    calc_angle_phi1(0);                 // angle phi1 is calculated in every loop
-    // ****************** STATE  MACHINE ***************************************
-    switch(CS)  { 
-        case INIT:                      // at very beginning
-            if (dt > 2.0f){
-                CS = FLAT;              // switch to FLAT state
-                ti.reset(); 
-                }
-            break;
-        case FLAT:                      // cuboid is flat, keep motor velocity to zero
-            torq = vel_cntrl(0.0f - vel); 
-            if (key_was_pressed && dt > 1.0f){
-                CS = BALANCE;
-                torq = cuboid_stab_cntrl(1);
-                ti.reset();
-                key_was_pressed = false;
-                phi1_des = 0.0f;
-                vel_cntrl.reset(0.0f);  // reset velocity controller for the next time
-                }
-            break;
-        case BALANCE:                   // balance the cube
-            torq = cuboid_stab_cntrl(0);
-            if (key_was_pressed && dt > 1.0f){
-                CS = SWING_DOWN;
-                phi1_des = 0.0f; 
-                ti.reset();
-                key_was_pressed = false;
-                }
-            break;  
-        case SWING_DOWN: 
-            phi1_des = dt;              // ramp the desired angle up to pi/4
-            torq = cuboid_stab_cntrl(0);// call balance routine
-            if (dt > 1.0f){             // good value for smooth moving down
-                CS = FLAT;              // move to flat
-                phi1_des = 0.0f; 
-                ti.reset(); 
-                }
-            break;  
-    default: break;
-    }
-    out.write( i2u(torq/0.217f)); // motor const. is 0.217, 
-    if(++k >= 249){
-        k = 0;
-        //pc.printf("phi: %1.5f, Torq: %1.2f  \r\n",phi1,torq);
-        pc.printf("ax %1.5f, ay: %1.5f, gyro: %1.5f, ph1: %1.5f\r\n",u2ax(ax.read()),u2ay(ay.read()),u2gz(gz.read()),phi1);
-        }
-
-} // END OF updateLoop(void)
- 
-//******************************************************************************
-//        ************ stabalizing controller *****************
-//******************************************************************************
- 
-float cuboid_stab_cntrl(int do_reset){
-/*                   | phi_des
-                     v 
-                    ---
-                   | V |  feed forward gain
-                    ---
-                     |
-          -------    v      --------
-0 -->O-->|om2zero|-->O---->| System |--o---> x = [phi1 phi1_t]
-     ^-   -------    ^-     --------   |
-     |               |                 |
-    vel              |       ---       |
-                      ---  -| K |<-----
-                             ---
-*/
-    if(do_reset == 1)       // reset controller
-        om2zero.reset(0.0f);
-        
-    float M_des = om2zero(0.0f-vel);    // outer controller to bring motor to zero
-    float torq = M_des    +  (-7.1*phi1_des) -(-9.6910f * phi1 -0.7119f * gyro);  // calculationof gains are based on the MATLAB script at the end of this file!!!
-    //          output PI       V               K(1)              K(2)
-    return torq;
-}
-// ************ calculate angle *****************
-void calc_angle_phi1(int do_reset){
-    gyro = u2gz(gz.read());
-    if(do_reset == 1){
-        f_ax.reset(u2ax(ax.read()));
-        f_ay.reset(u2ax(ay.read()));
-        f_gz.reset(gyro);
-        }
-    phi1 = atan2(-f_ax(u2ax(ax.read())),f_ay(u2ay(ay.read()))) + PI/4.0f + f_gz(gyro);
-    }
- 
-// start timer as soon as Button is pressed
-void pressed()
-{
-    t_but.start();
-    key_was_pressed = false;
-}
- 
-// evaluating statemachine
-void released()
-{
- 
-    // readout, stop and reset timer
-    float ButtonTime = t_but.read();
-    t_but.stop();
-    t_but.reset();
-    if(ButtonTime > 0.05f) 
-        key_was_pressed = true;
-}
- 
- 
- 
-/* MATLAB CODE FOR CUBOID:
-%% Skript fuer cuboid Praktikum 
-    m_geh=.938;     % Masse des Gehaeses 
-    m_sb=1.243;     % Masse Scheibe 
-    m_g=m_geh+m_sb; % Gesamtmasse
-    J_geh=.00408;   % Traegheit Gehaeuse (CM)
-    J_sb=.00531;    % Traegheit Scheibe (CM)
-    J1=diag([0 0 J_geh]);
-    J2=diag([0 0 J_sb]);
-    l=.17;          % Kantenlaenge
-    sy=.085;
-    g=9.81;
-    phi0=0;
-    J_g=J_geh+(m_geh+m_sb)*(l/sqrt(2))^2;
- 
-    %% Linearisiertes Modell
-    A2=[0 1;m_g*g*l/sqrt(2)/J_g 0];
-    B2=[0;-1/J_g];
-    K=place(A2,B2,10*[-1+1j -1-1j]);
-    s_cl=ss(A2-B2*K,B2,[1 0],0);
-    V=1/dcgain(s_cl);
-    
-    %% Gesamtsystem mit Scheibe, Zustaende [phi_1 om_1 om2~] (om2~ = Absolutkoordinaten)
-    A3=[A2-B2*K [0;0];...
-         -1/J_sb*K 0];  % Auf Scheibenbeschleunigung wirken ganz 
-                        % entsprechend die Zustaende x1, x2 ueber die Zustandsrueckfuehrung
-    B3=[B2;1/J_sb];
-    C3=[0 -1 1];        % Gemessen wird die Relativgeschwindigkeit zwischen Scheibe-Gehaeuse
-    s3=ss(A3,B3,C3,0);
-    s3=ss2ss(s3,[1 0 0;0 1 0;0 -1 1]);  % Transformiere 3ten Zustand (eigentlich unnoetig)
-    Tn=4;
-    PI=-tf([Tn 1],[Tn 0]);  % Langsamer PI Regler, negatives gain erforderlich!!
-    rlocus(s3*PI);grid
-    */
\ No newline at end of file
diff -r 3d8dd3d17564 -r 768e10f6d372 mbed-os.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Thu Feb 25 20:28:45 2021 +0000
@@ -0,0 +1,1 @@
+https://github.com/armmbed/mbed-os/#c53d51fe9220728bf8ed27afe7afc1ecc3f6f5d7
diff -r 3d8dd3d17564 -r 768e10f6d372 mbed.bld
--- a/mbed.bld	Wed Nov 06 08:00:26 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file
diff -r 3d8dd3d17564 -r 768e10f6d372 path_1d.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/path_1d.cpp	Thu Feb 25 20:28:45 2021 +0000
@@ -0,0 +1,93 @@
+#include "path_1d.h"
+using namespace std;
+
+path_1d::path_1d(void)
+{
+    this->finished = false;
+    this->started  = false;
+    this->initialized = false;
+    
+}
+
+
+path_1d::~path_1d() {}
+
+
+void path_1d::initialize(float a,float v, float s,float v_0,float v_end, float s_start){
+    this->a_max = a;
+    this->v_max = v;
+    this->s_start = s_start;
+    this->sig = (float)(((s-s_start)>=0) -((s-s_start)<0));
+    this->v_0 = abs(v_0);
+    this->dT=-this->v_0/this->a_max;
+    v_end = abs(v_end);
+    this->s_0 = abs(s-s_start);
+    this->s_end = this->s_0+.5f*v_end*v_end/this->a_max+.5f*this->v_0*this->v_0/this->a_max;
+    this->T_end=2*sqrt(this->s_end/this->a_max);
+    float VT= a * this->T_end/2.0f;
+    if(VT<=this->v_max)
+        {
+        this->T1=this->T_end/2.0f;
+        this->T2=this->T_end/2.0f;
+        }
+    else
+        {
+        float V_ = VT-this->v_max;
+        float TX = 2.0f*V_ / this->a_max;
+        float DS = .5f*V_ * TX;
+        float T_ = TX + DS / this->v_max;
+        this->T_end = this->T_end+DS / this->v_max;
+        this->T1=(this->T_end-T_)/2.0f;          // beschleunige bis hier
+        this->T2=(this->T_end+T_)/2.0f;          // bis hier konstant
+        this->X1=0.5f*this->a_max*this->T1*this->T1;
+        this->X2=this->X1 + this->v_max*(this->T2-this->T1);
+        this->X3=this->X2 + .5f*a_max*(this->T_end - this->T2)*(this->T_end-this->T2);
+        }
+    finished = false;
+    started  = false;
+    initialized = true;
+}
+void path_1d::get_x_v(float t, float *x,float *v)
+{
+ t = t-t_offset-dT;
+ if(t <=T1)
+    {
+    *x = 0.5f*a_max*t*t;
+    *v = a_max * t;
+    }
+else if(t<=T2)
+    {
+     *x = X1+v_max*(t-T1);
+     *v = v_max;
+    }
+else if(t<=T_end)
+    {
+    *x = X3-.5*a_max*(t-T_end)*(t-T_end);
+    *v = -a_max*(t-T_end);
+    }
+else
+    {
+    *x = s_end;
+    *v = 0;
+    }
+if(t>=T_end)
+    {
+    finished = true;
+    started = false;
+    }
+*x -= .5*v_0*v_0/a_max;
+if((*x) >= s_0)
+    {
+    finished = true;    
+    started = false;
+    }
+*x *= sig;
+*x += s_start; 
+*v *= sig;
+}
+void path_1d::start(float t)
+{   
+    t_offset = t;
+    finished = false;
+    started = true;
+    }
\ No newline at end of file
diff -r 3d8dd3d17564 -r 768e10f6d372 path_1d.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/path_1d.h	Thu Feb 25 20:28:45 2021 +0000
@@ -0,0 +1,29 @@
+#ifndef PATH_1D_H_
+#define PATH_1D_H_
+
+
+#include "mbed.h"
+class path_1d{
+public:
+    path_1d(void);
+    virtual ~path_1d();
+    void initialize(float,float,float,float,float,float);
+    void get_x_v(float,float *, float *);
+    void start(float);
+    bool finished;
+    bool started;
+    bool initialized;
+    
+
+private:
+    float dT;
+    float sig;
+    float T_end,T1,T2;
+    float X1,X2,X3;
+    float t_offset;
+    float a_max,v_max,s_end,v_0,s_0,s_start;
+    //-----------------------------------
+    
+};
+
+#endif
\ No newline at end of file