Akito / trapezoidalMotionCal

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trapezoidalMotionCal.h

00001 
00002 #include "mbed.h"
00003 
00004 #ifndef __TRAPEZOIDAL_MOTION_CAL_H__
00005 #define __TRAPEZOIDAL_MOTION_CAL_H__
00006 
00007 
00008 class trapezoidalMotionCal{
00009     
00010 public:
00011     
00012     trapezoidalMotionCal(double f_start, double f_stop, double f_max, double a_up, double a_down);
00013     
00014     void setTarg(int32_t targ);
00015     
00016     uint32_t calStepDelay(int32_t steps);
00017     
00018 private:
00019     double _f_start;
00020     double _f_stop;
00021     double _f_max;
00022     double _a_up;
00023     double _a_down;
00024     
00025     double step_accel;
00026     double step_decel;
00027     double step_const;
00028     double f_reach;
00029     
00030     int32_t targSteps;
00031     
00032     int shortMode;
00033     int revMode;
00034     
00035 };
00036 
00037 
00038 
00039 
00040 #endif
00041
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