Nicolas Borla / Mbed OS ROME2_Robot_Firmware

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Motion.h@0:4beb2ea291ec, 2020-03-16 (annotated)

Committer:
boro
Date:
Mon Mar 16 13:12:31 2020 +0000
Revision:
0:4beb2ea291ec
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:4beb2ea291ec 1 /*
boro 0:4beb2ea291ec 2 * Motion.h
boro 0:4beb2ea291ec 3 * Copyright (c) 2017, ZHAW
boro 0:4beb2ea291ec 4 * All rights reserved.
boro 0:4beb2ea291ec 5 *
boro 0:4beb2ea291ec 6 * Created on: 02.02.2017
boro 0:4beb2ea291ec 7 * Author: Marcel Honegger
boro 0:4beb2ea291ec 8 */
boro 0:4beb2ea291ec 9
boro 0:4beb2ea291ec 10 #ifndef MOTION_H_
boro 0:4beb2ea291ec 11 #define MOTION_H_
boro 0:4beb2ea291ec 12
boro 0:4beb2ea291ec 13 #include <cstdlib>
boro 0:4beb2ea291ec 14
boro 0:4beb2ea291ec 15 /**
boro 0:4beb2ea291ec 16 * This class keeps the motion values <code>position</code> and <code>velocity</code>, and
boro 0:4beb2ea291ec 17 * offers methods to increment these values towards a desired target position or velocity.
boro 0:4beb2ea291ec 18 * <br/>
boro 0:4beb2ea291ec 19 * To increment the current motion values, this class uses a simple 2nd order motion planner.
boro 0:4beb2ea291ec 20 * This planner calculates the motion to the target position or velocity with the various motion
boro 0:4beb2ea291ec 21 * phases, based on given limits for the profile velocity, acceleration and deceleration.
boro 0:4beb2ea291ec 22 * <br/>
boro 0:4beb2ea291ec 23 * Note that the trajectory is calculated every time the motion state is incremented.
boro 0:4beb2ea291ec 24 * This allows to change the target position or velocity, as well as the limits for profile
boro 0:4beb2ea291ec 25 * velocity, acceleration and deceleration at any time.
boro 0:4beb2ea291ec 26 */
boro 0:4beb2ea291ec 27 class Motion {
boro 0:4beb2ea291ec 28
boro 0:4beb2ea291ec 29 public:
boro 0:4beb2ea291ec 30
boro 0:4beb2ea291ec 31 double position; /**< The position value of this motion, given in [m] or [rad]. */
boro 0:4beb2ea291ec 32 float velocity; /**< The velocity value of this motion, given in [m/s] or [rad/s]. */
boro 0:4beb2ea291ec 33 float acceleration; /**< The acceleration value of this motion, given in [m/s&sup2;] or [rad/s&sup2;]. */
boro 0:4beb2ea291ec 34
boro 0:4beb2ea291ec 35 Motion();
boro 0:4beb2ea291ec 36 Motion(double position, float velocity, float acceleration);
boro 0:4beb2ea291ec 37 Motion(const Motion& motion);
boro 0:4beb2ea291ec 38 virtual ~Motion();
boro 0:4beb2ea291ec 39 void set(double position, float velocity, float acceleration);
boro 0:4beb2ea291ec 40 void set(const Motion& motion);
boro 0:4beb2ea291ec 41 void setPosition(double position);
boro 0:4beb2ea291ec 42 double getPosition();
boro 0:4beb2ea291ec 43 void setVelocity(float velocity);
boro 0:4beb2ea291ec 44 float getVelocity();
boro 0:4beb2ea291ec 45 void setAcceleration(float acceleration);
boro 0:4beb2ea291ec 46 float getAcceleration();
boro 0:4beb2ea291ec 47 void setProfileVelocity(float profileVelocity);
boro 0:4beb2ea291ec 48 void setProfileAcceleration(float profileAcceleration);
boro 0:4beb2ea291ec 49 void setProfileDeceleration(float profileDeceleration);
boro 0:4beb2ea291ec 50 void setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration);
boro 0:4beb2ea291ec 51 float getTimeToPosition(double targetPosition);
boro 0:4beb2ea291ec 52 double getDistanceToStop();
boro 0:4beb2ea291ec 53 void incrementToVelocity(float targetVelocity, float period);
boro 0:4beb2ea291ec 54 void incrementToPosition(double targetPosition, float period);
boro 0:4beb2ea291ec 55
boro 0:4beb2ea291ec 56 private:
boro 0:4beb2ea291ec 57
boro 0:4beb2ea291ec 58 static const float DEFAULT_LIMIT; // default value for limits
boro 0:4beb2ea291ec 59 static const float MINIMUM_LIMIT; // smallest value allowed for limits
boro 0:4beb2ea291ec 60
boro 0:4beb2ea291ec 61 float profileVelocity;
boro 0:4beb2ea291ec 62 float profileAcceleration;
boro 0:4beb2ea291ec 63 float profileDeceleration;
boro 0:4beb2ea291ec 64 };
boro 0:4beb2ea291ec 65
boro 0:4beb2ea291ec 66 #endif /* MOTION_H_ */
boro 0:4beb2ea291ec 67