速度からステップ数を取得する、台形駆動ライブラリ。
trapezoidalMotionCal.cpp
- Committer:
- Akito914
- Date:
- 2017-08-03
- Revision:
- 0:a7573f3f2207
- Child:
- 1:15adfb7ee64c
File content as of revision 0:a7573f3f2207:
#include "mbed.h" #include "trapezoidalMotionCal.h" trapezoidalMotionCal::trapezoidalMotionCal(double f_start, double f_stop, double f_max, double a_up, double a_down){ _f_start = f_start; _f_stop = f_stop; _f_max = f_max; _a_up = a_up; _a_down = a_down; shortMode = 0; revMode = 0; step_accel = (f_max * f_max - f_start * f_start) / (2 * a_up); step_decel = (f_stop * f_stop - f_max * f_max) / (2 * a_down); } void trapezoidalMotionCal::setTarg(int32_t targ){ targSteps = targ; if(targSteps < 0){ revMode = 1; targSteps *= -1; } step_const = (double)targSteps - step_accel - step_decel; if (step_const <= 0) { shortMode = 1; step_accel = (2 * _a_down * targSteps + _f_start * _f_start - _f_stop * _f_stop) / (2 * (_a_down - _a_up)); step_decel = targSteps - step_accel; step_const = 0; f_reach = sqrt(2 * _a_up * step_accel + _f_start * _f_start); } } uint32_t trapezoidalMotionCal::calStepDelay(int32_t steps){ uint32_t period_us; if (steps < step_accel) { period_us = 1000000 * pow(_f_start * _f_start + 2 * _a_up * steps, -0.5); } else if (steps < step_accel + step_const) { period_us = 1000000 / _f_max; } else { if (shortMode == 0) { period_us = 1000000 * pow(_f_max * _f_max + 2 * _a_down * (steps - step_accel - step_const), -0.5); } else { period_us = 1000000 * pow(f_reach * f_reach + 2 * _a_down * (steps - step_accel - step_const), -0.5); } } return period_us; }