File content as of revision 2:ee75bb401e31:

#include "mbed.h"
#include "timeBaseTrapezoidalMotionCal.h"


timeBaseTrapezoidalMotionCal::timeBaseTrapezoidalMotionCal(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;
    
}

void timeBaseTrapezoidalMotionCal::setTarg(int32_t targ){
    
    targSteps = targ;
    
    revMode = 0;
    if(targSteps < 0){
        revMode = 1;
        targSteps *= -1;
    }
    
    shortMode = 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);
    step_const = (double)targSteps - step_accel - step_decel;
    t_accel = (_f_max - _f_start) / _a_up;
    t_decel = (_f_stop - _f_max) / _a_down;
    t_const = step_const / _f_max;
    
    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_const = 0;
        step_decel = targSteps - step_accel;
        f_reach = sqrt(2 * _a_up * step_accel + _f_start * _f_start);
        t_accel = ( f_reach - _f_start) / _a_up;
        t_decel = (_f_stop  -  f_reach) / _a_down;
        t_const = 0;
    }
    
}

int32_t timeBaseTrapezoidalMotionCal::calSteps(int32_t time_ms){
    int32_t steps;
    
    if (time_ms * 0.001 < t_accel) {
        steps = _a_up * time_ms * time_ms * 0.000001 / 2.0 + _f_start * time_ms * 0.001;
    }
    else if (time_ms * 0.001 < t_accel + t_const) {
        steps = _f_max * (time_ms * 0.001 - t_accel) + step_accel;
    }
    else if(time_ms * 0.001 < t_accel + t_const + t_decel){
        if (shortMode == 0) {
            steps = _a_down * (time_ms * 0.001 - t_accel - t_const) * (time_ms * 0.001 - t_accel - t_const) / 2.0      \
                  + _f_max  * (time_ms * 0.001 - t_accel - t_const) + step_accel + step_const;
        }
        else {
            steps = _a_down * (time_ms * 0.001 - t_accel) * (time_ms * 0.001 - t_accel) / 2.0     \
                  + f_reach * (time_ms * 0.001 - t_accel) + step_accel;
        }
    }
    else steps = targSteps;
    
    return steps * (revMode ? -1 : 1);
}