Michael Ernst Peter / Mbed OS PM2_Example_ROME2_Robots

Example project

Dependencies:   PM2_Libary Eigen

Motion.h@39:f336caef17d9, 2022-05-10 (annotated)

Committer:
pmic
Date:
Tue May 10 14:11:06 2022 +0200
Revision:
39:f336caef17d9
Parent:
37:698d6b73b50c 
Version without StateMachine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 37:698d6b73b50c 1 /*
pmic 37:698d6b73b50c 2 * Motion.h
pmic 37:698d6b73b50c 3 * Copyright (c) 2022, ZHAW
pmic 37:698d6b73b50c 4 * All rights reserved.
pmic 37:698d6b73b50c 5 */
pmic 37:698d6b73b50c 6
pmic 37:698d6b73b50c 7 #ifndef MOTION_H_
pmic 37:698d6b73b50c 8 #define MOTION_H_
pmic 37:698d6b73b50c 9
pmic 37:698d6b73b50c 10 #include <cstdlib>
pmic 37:698d6b73b50c 11
pmic 37:698d6b73b50c 12 /**
pmic 37:698d6b73b50c 13 * This class keeps the motion values <code>position</code> and <code>velocity</code>, and
pmic 37:698d6b73b50c 14 * offers methods to increment these values towards a desired target position or velocity.
pmic 37:698d6b73b50c 15 * <br/>
pmic 37:698d6b73b50c 16 * To increment the current motion values, this class uses a simple 2nd order motion planner.
pmic 37:698d6b73b50c 17 * This planner calculates the motion to the target position or velocity with the various motion
pmic 37:698d6b73b50c 18 * phases, based on given limits for the profile velocity, acceleration and deceleration.
pmic 37:698d6b73b50c 19 * <br/>
pmic 37:698d6b73b50c 20 * Note that the trajectory is calculated every time the motion state is incremented.
pmic 37:698d6b73b50c 21 * This allows to change the target position or velocity, as well as the limits for profile
pmic 37:698d6b73b50c 22 * velocity, acceleration and deceleration at any time.
pmic 37:698d6b73b50c 23 */
pmic 37:698d6b73b50c 24 class Motion {
pmic 37:698d6b73b50c 25
pmic 37:698d6b73b50c 26 public:
pmic 37:698d6b73b50c 27
pmic 37:698d6b73b50c 28 double position; /**< The position value of this motion, given in [m] or [rad]. */
pmic 37:698d6b73b50c 29 float velocity; /**< The velocity value of this motion, given in [m/s] or [rad/s]. */
pmic 37:698d6b73b50c 30
pmic 37:698d6b73b50c 31 Motion();
pmic 37:698d6b73b50c 32 Motion(double position, float velocity);
pmic 37:698d6b73b50c 33 Motion(const Motion& motion);
pmic 37:698d6b73b50c 34 virtual ~Motion();
pmic 37:698d6b73b50c 35 void set(double position, float velocity);
pmic 37:698d6b73b50c 36 void set(const Motion& motion);
pmic 37:698d6b73b50c 37 void setPosition(double position);
pmic 37:698d6b73b50c 38 double getPosition();
pmic 37:698d6b73b50c 39 void setVelocity(float velocity);
pmic 37:698d6b73b50c 40 float getVelocity();
pmic 37:698d6b73b50c 41 void setProfileVelocity(float profileVelocity);
pmic 37:698d6b73b50c 42 void setProfileAcceleration(float profileAcceleration);
pmic 37:698d6b73b50c 43 void setProfileDeceleration(float profileDeceleration);
pmic 37:698d6b73b50c 44 void setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration);
pmic 37:698d6b73b50c 45 float getTimeToPosition(double targetPosition);
pmic 37:698d6b73b50c 46 void incrementToVelocity(float targetVelocity, float period);
pmic 37:698d6b73b50c 47 void incrementToPosition(double targetPosition, float period);
pmic 37:698d6b73b50c 48
pmic 37:698d6b73b50c 49 private:
pmic 37:698d6b73b50c 50
pmic 37:698d6b73b50c 51 static const float DEFAULT_LIMIT; // default value for limits
pmic 37:698d6b73b50c 52 static const float MINIMUM_LIMIT; // smallest value allowed for limits
pmic 37:698d6b73b50c 53
pmic 37:698d6b73b50c 54 float profileVelocity;
pmic 37:698d6b73b50c 55 float profileAcceleration;
pmic 37:698d6b73b50c 56 float profileDeceleration;
pmic 37:698d6b73b50c 57 };
pmic 37:698d6b73b50c 58
pmic 37:698d6b73b50c 59 #endif /* MOTION_H_ */