This class keeps the motion values position and velocity, and offers methods to increment these values towards a desired target position or velocity. More...

#include <Motion.h>

Public Member Functions
	Motion ()
	Creates a `Motion` object.
	Motion (double position, float velocity)
	Creates a `Motion` object with given values for position and velocity.
	Motion (const Motion &motion)
	Creates a `Motion` object with given values for position and velocity.
virtual	~Motion ()
	Deletes the Motion object.
void	set (double position, float velocity)
	Sets the values for position and velocity.
void	set (const Motion &motion)
	Sets the values for position and velocity.
void	setPosition (double position)
	Sets the position value.
double	getPosition ()
	Gets the position value.
void	setVelocity (float velocity)
	Sets the velocity value.
float	getVelocity ()
	Gets the velocity value.
void	setProfileVelocity (float profileVelocity)
	Sets the limit for the velocity value.
void	setProfileAcceleration (float profileAcceleration)
	Sets the limit for the acceleration value.
void	setProfileDeceleration (float profileDeceleration)
	Sets the limit for the deceleration value.
void	setLimits (float profileVelocity, float profileAcceleration, float profileDeceleration)
	Sets the limits for velocity, acceleration and deceleration values.
float	getTimeToPosition (double targetPosition)
	Gets the time needed to move to a given target position.
void	incrementToVelocity (float targetVelocity, float period)
	Increments the current motion towards a given target velocity.
void	incrementToPosition (double targetPosition, float period)
	Increments the current motion towards a given target position.
Data Fields
double	position
	The position value of this motion, given in [m] or [rad].
float	velocity
	The velocity value of this motion, given in [m/s] or [rad/s].

Detailed Description

This class keeps the motion values position and velocity, and offers methods to increment these values towards a desired target position or velocity.

To increment the current motion values, this class uses a simple 2nd order motion planner. This planner calculates the motion to the target position or velocity with the various motion phases, based on given limits for the profile velocity, acceleration and deceleration.
Note that the trajectory is calculated every time the motion state is incremented. This allows to change the target position or velocity, as well as the limits for profile velocity, acceleration and deceleration at any time.

Definition at line 24 of file Motion.h.

Constructor & Destructor Documentation

Motion ( )

Creates a Motion object.

The values for position, velocity and acceleration are set to 0.

Definition at line 20 of file Motion.cpp.

Motion	(	double	position,
		float	velocity
	)

Creates a Motion object with given values for position and velocity.

Parameters:

position	the initial position value of this motion, given in [m] or [rad].
velocity	the initial velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 35 of file Motion.cpp.

Motion ( const Motion & motion )

Creates a Motion object with given values for position and velocity.

Parameters:

motion another Motion object to copy the values from.

Definition at line 49 of file Motion.cpp.

~Motion ( ) [virtual]

Deletes the Motion object.

Definition at line 62 of file Motion.cpp.

Member Function Documentation

double getPosition ( )

Gets the position value.

Returns:: the position value of this motion, given in [m] or [rad].

Definition at line 98 of file Motion.cpp.

float getTimeToPosition ( double targetPosition )

Gets the time needed to move to a given target position.

Parameters:

targetPosition the desired target position given in [m] or [rad].

Returns:: the time to move to the target position, given in [s].

Definition at line 166 of file Motion.cpp.

float getVelocity ( )

Gets the velocity value.

Returns:: the velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 116 of file Motion.cpp.

void incrementToPosition	(	double	targetPosition,
		float	period
	)

Increments the current motion towards a given target position.

Parameters:

targetPosition	the desired target position given in [m] or [rad].
period	the time period to increment the motion values for, given in [s].

Definition at line 375 of file Motion.cpp.

void incrementToVelocity	(	float	targetVelocity,
		float	period
	)

Increments the current motion towards a given target velocity.

Parameters:

targetVelocity	the desired target velocity given in [m/s] or [rad/s].
period	the time period to increment the motion values for, given in [s].

Definition at line 263 of file Motion.cpp.

void set ( const Motion & motion )

Sets the values for position and velocity.

Parameters:

motion another Motion object to copy the values from.

Definition at line 79 of file Motion.cpp.

void set	(	double	position,
		float	velocity
	)

Sets the values for position and velocity.

Parameters:

position	the desired position value of this motion, given in [m] or [rad].
velocity	the desired velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 69 of file Motion.cpp.

void setLimits	(	float	profileVelocity,
		float	profileAcceleration,
		float	profileDeceleration
	)

Sets the limits for velocity, acceleration and deceleration values.

Parameters:

profileVelocity	the limit of the velocity.
profileAcceleration	the limit of the acceleration.
profileDeceleration	the limit of the deceleration.

Definition at line 154 of file Motion.cpp.

void setPosition ( double position )

Sets the position value.

Parameters:

position the desired position value of this motion, given in [m] or [rad].

Definition at line 89 of file Motion.cpp.

void setProfileAcceleration ( float profileAcceleration )

Sets the limit for the acceleration value.

Parameters:

profileAcceleration the limit of the acceleration.

Definition at line 134 of file Motion.cpp.

void setProfileDeceleration ( float profileDeceleration )

Sets the limit for the deceleration value.

Parameters:

profileDeceleration the limit of the deceleration.

Definition at line 143 of file Motion.cpp.

void setProfileVelocity ( float profileVelocity )

Sets the limit for the velocity value.

Parameters:

profileVelocity the limit of the velocity.

Definition at line 125 of file Motion.cpp.

void setVelocity ( float velocity )

Sets the velocity value.

Parameters:

velocity the desired velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 107 of file Motion.cpp.

Field Documentation

double position

The position value of this motion, given in [m] or [rad].

Definition at line 28 of file Motion.h.

float velocity

The velocity value of this motion, given in [m/s] or [rad/s].

Definition at line 29 of file Motion.h.

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	09 Mar 2020
Imports:	1
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

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Motion Class Reference

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Detailed Description

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Member Function Documentation

Field Documentation

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Detailed Description

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Member Function Documentation

Field Documentation

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