Diff: timeBaseTrapezoidalMotionCal.h

Revision:

2:ee75bb401e31

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/timeBaseTrapezoidalMotionCal.h	Sun Jan 07 14:28:36 2018 +0000
@@ -0,0 +1,45 @@
+
+#include "mbed.h"
+
+#ifndef __TIME_BASE_TRAPEZOIDAL_MOTION_CAL_H__
+#define __TIME_BASE_TRAPEZOIDAL_MOTION_CAL_H__
+
+
+class timeBaseTrapezoidalMotionCal{
+    
+public:
+    
+    timeBaseTrapezoidalMotionCal(double f_start, double f_stop, double f_max, double a_up, double a_down);
+    
+    void setTarg(int32_t targ);
+    
+    int32_t calSteps(int32_t time_ms);
+    
+private:
+    double _f_start;
+    double _f_stop;
+    double _f_max;
+    double _a_up;
+    double _a_down;
+    
+    double step_accel;
+    double step_decel;
+    double step_const;
+    double f_reach;
+    
+    double t_accel;
+    double t_const;
+    double t_decel;
+    
+    int32_t targSteps;
+    
+    int shortMode;
+    int revMode;
+    
+};
+
+
+
+
+#endif
+