Akito
台形制御用ライブラリ
Dependents: kisoken_PenPlotter
Diff: trapezoidalMotionCal.h
- Revision:
- 0:a7573f3f2207
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/trapezoidalMotionCal.h Thu Aug 03 06:50:03 2017 +0000
@@ -0,0 +1,41 @@
+
+#include "mbed.h"
+
+#ifndef __TRAPEZOIDAL_MOTION_CAL_H__
+#define __TRAPEZOIDAL_MOTION_CAL_H__
+
+
+class trapezoidalMotionCal{
+
+public:
+
+ trapezoidalMotionCal(double f_start, double f_stop, double f_max, double a_up, double a_down);
+
+ void setTarg(int32_t targ);
+
+ uint32_t calStepDelay(int32_t steps);
+
+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;
+
+ int32_t targSteps;
+
+ int shortMode;
+ int revMode;
+
+};
+
+
+
+
+#endif
+