台形制御用ライブラリ
Dependents: kisoken_PenPlotter
Diff: trapezoidalMotionCal.cpp
- Revision:
- 2:a43e90cb271c
- Parent:
- 1:15adfb7ee64c
--- a/trapezoidalMotionCal.cpp Thu Aug 03 12:42:12 2017 +0000 +++ b/trapezoidalMotionCal.cpp Thu Sep 07 06:42:08 2017 +0000 @@ -24,17 +24,19 @@ targSteps *= -1; } - step_accel = (_f_max * _f_max - _f_start * _f_start) / (2 * _a_up); - step_const = (double)targSteps - step_accel - step_decel; - step_decel = (_f_stop * _f_stop - _f_max * _f_max) / (2 * _a_down); - 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; - step_const = 0; f_reach = sqrt(2 * _a_up * step_accel + _f_start * _f_start); } + else{ + 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; + } }