Allan Brignoli / Mbed 2 deprecated Rome2_P6

gugus

Dependencies:   mbed

Motion.h@0:1a0321f1ffbc, 2018-05-18 (annotated)

Committer:
Brignall
Date:
Fri May 18 12:18:21 2018 +0000
Revision:
0:1a0321f1ffbc
lala;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Brignall 0:1a0321f1ffbc 1 /*
Brignall 0:1a0321f1ffbc 2 * Motion.h
Brignall 0:1a0321f1ffbc 3 * Copyright (c) 2018, ZHAW
Brignall 0:1a0321f1ffbc 4 * All rights reserved.
Brignall 0:1a0321f1ffbc 5 */
Brignall 0:1a0321f1ffbc 6
Brignall 0:1a0321f1ffbc 7 #ifndef MOTION_H_
Brignall 0:1a0321f1ffbc 8 #define MOTION_H_
Brignall 0:1a0321f1ffbc 9
Brignall 0:1a0321f1ffbc 10 #include <cstdlib>
Brignall 0:1a0321f1ffbc 11
Brignall 0:1a0321f1ffbc 12 /**
Brignall 0:1a0321f1ffbc 13 * This class keeps the motion values <code>position</code> and <code>velocity</code>, and
Brignall 0:1a0321f1ffbc 14 * offers methods to increment these values towards a desired target position or velocity.
Brignall 0:1a0321f1ffbc 15 * <br/>
Brignall 0:1a0321f1ffbc 16 * To increment the current motion values, this class uses a simple 2nd order motion planner.
Brignall 0:1a0321f1ffbc 17 * This planner calculates the motion to the target position or velocity with the various motion
Brignall 0:1a0321f1ffbc 18 * phases, based on given limits for the profile velocity, acceleration and deceleration.
Brignall 0:1a0321f1ffbc 19 * <br/>
Brignall 0:1a0321f1ffbc 20 * Note that the trajectory is calculated every time the motion state is incremented.
Brignall 0:1a0321f1ffbc 21 * This allows to change the target position or velocity, as well as the limits for profile
Brignall 0:1a0321f1ffbc 22 * velocity, acceleration and deceleration at any time.
Brignall 0:1a0321f1ffbc 23 */
Brignall 0:1a0321f1ffbc 24 class Motion {
Brignall 0:1a0321f1ffbc 25
Brignall 0:1a0321f1ffbc 26 public:
Brignall 0:1a0321f1ffbc 27
Brignall 0:1a0321f1ffbc 28 double position; /**< The position value of this motion, given in [m] or [rad]. */
Brignall 0:1a0321f1ffbc 29 float velocity; /**< The velocity value of this motion, given in [m/s] or [rad/s]. */
Brignall 0:1a0321f1ffbc 30
Brignall 0:1a0321f1ffbc 31 Motion();
Brignall 0:1a0321f1ffbc 32 Motion(double position, float velocity);
Brignall 0:1a0321f1ffbc 33 Motion(const Motion& motion);
Brignall 0:1a0321f1ffbc 34 virtual ~Motion();
Brignall 0:1a0321f1ffbc 35 void set(double position, float velocity);
Brignall 0:1a0321f1ffbc 36 void set(const Motion& motion);
Brignall 0:1a0321f1ffbc 37 void setPosition(double position);
Brignall 0:1a0321f1ffbc 38 double getPosition();
Brignall 0:1a0321f1ffbc 39 void setVelocity(float velocity);
Brignall 0:1a0321f1ffbc 40 float getVelocity();
Brignall 0:1a0321f1ffbc 41 void setProfileVelocity(float profileVelocity);
Brignall 0:1a0321f1ffbc 42 void setProfileAcceleration(float profileAcceleration);
Brignall 0:1a0321f1ffbc 43 void setProfileDeceleration(float profileDeceleration);
Brignall 0:1a0321f1ffbc 44 void setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration);
Brignall 0:1a0321f1ffbc 45 float getTimeToPosition(double targetPosition);
Brignall 0:1a0321f1ffbc 46 void incrementToVelocity(float targetVelocity, float period);
Brignall 0:1a0321f1ffbc 47 void incrementToPosition(double targetPosition, float period);
Brignall 0:1a0321f1ffbc 48
Brignall 0:1a0321f1ffbc 49 private:
Brignall 0:1a0321f1ffbc 50
Brignall 0:1a0321f1ffbc 51 static const float DEFAULT_LIMIT; // default value for limits
Brignall 0:1a0321f1ffbc 52 static const float MINIMUM_LIMIT; // smallest value allowed for limits
Brignall 0:1a0321f1ffbc 53
Brignall 0:1a0321f1ffbc 54 float profileVelocity;
Brignall 0:1a0321f1ffbc 55 float profileAcceleration;
Brignall 0:1a0321f1ffbc 56 float profileDeceleration;
Brignall 0:1a0321f1ffbc 57 };
Brignall 0:1a0321f1ffbc 58
Brignall 0:1a0321f1ffbc 59 #endif /* MOTION_H_ */
Brignall 0:1a0321f1ffbc 60
Brignall 0:1a0321f1ffbc 61