Akito / trapezoidalMotionCal

台形制御用ライブラリ

Dependents:   kisoken_PenPlotter

trapezoidalMotionCal.h

Committer:
Akito914
Date:
2017-09-07
Revision:
2:a43e90cb271c
Parent:
0:a7573f3f2207

File content as of revision 2:a43e90cb271c:


#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