Quentin Mettraux / Mbed OS MAVErIC_TEST

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Motion.h@10:36a2131f636c, 2017-08-22 (annotated)

Committer:
mettrque
Date:
Tue Aug 22 10:49:39 2017 +0000
Revision:
10:36a2131f636c
Parent:
0:bdca5e4773dd 
last military version;

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mettrque 0:bdca5e4773dd 1 /*
mettrque 0:bdca5e4773dd 2 * Motion.h
mettrque 0:bdca5e4773dd 3 * Copyright (c) 2017, ZHAW
mettrque 0:bdca5e4773dd 4 * All rights reserved.
mettrque 0:bdca5e4773dd 5 *
mettrque 0:bdca5e4773dd 6 * Created on: 02.02.2017
mettrque 0:bdca5e4773dd 7 * Author: Marcel Honegger
mettrque 0:bdca5e4773dd 8 */
mettrque 0:bdca5e4773dd 9
mettrque 0:bdca5e4773dd 10 #ifndef MOTION_H_
mettrque 0:bdca5e4773dd 11 #define MOTION_H_
mettrque 0:bdca5e4773dd 12
mettrque 0:bdca5e4773dd 13 #include <cstdlib>
mettrque 0:bdca5e4773dd 14
mettrque 0:bdca5e4773dd 15 /**
mettrque 0:bdca5e4773dd 16 * This class keeps the motion values <code>position</code> and <code>velocity</code>, and
mettrque 0:bdca5e4773dd 17 * offers methods to increment these values towards a desired target position or velocity.
mettrque 0:bdca5e4773dd 18 * <br/>
mettrque 0:bdca5e4773dd 19 * To increment the current motion values, this class uses a simple 2nd order motion planner.
mettrque 0:bdca5e4773dd 20 * This planner calculates the motion to the target position or velocity with the various motion
mettrque 0:bdca5e4773dd 21 * phases, based on given limits for the profile velocity, acceleration and deceleration.
mettrque 0:bdca5e4773dd 22 * <br/>
mettrque 0:bdca5e4773dd 23 * Note that the trajectory is calculated every time the motion state is incremented.
mettrque 0:bdca5e4773dd 24 * This allows to change the target position or velocity, as well as the limits for profile
mettrque 0:bdca5e4773dd 25 * velocity, acceleration and deceleration at any time.
mettrque 0:bdca5e4773dd 26 */
mettrque 0:bdca5e4773dd 27 class Motion {
mettrque 0:bdca5e4773dd 28
mettrque 0:bdca5e4773dd 29 public:
mettrque 0:bdca5e4773dd 30
mettrque 0:bdca5e4773dd 31 double position; /**< The position value of this motion, given in [m] or [rad]. */
mettrque 0:bdca5e4773dd 32 float velocity; /**< The velocity value of this motion, given in [m/s] or [rad/s]. */
mettrque 0:bdca5e4773dd 33 float acceleration; /**< The acceleration value of this motion, given in [m/s&sup2;] or [rad/s&sup2;]. */
mettrque 0:bdca5e4773dd 34
mettrque 0:bdca5e4773dd 35 Motion();
mettrque 0:bdca5e4773dd 36 Motion(double position, float velocity);
mettrque 0:bdca5e4773dd 37 Motion(double position, float velocity, float acceleration);
mettrque 0:bdca5e4773dd 38 Motion(const Motion& motion);
mettrque 0:bdca5e4773dd 39 virtual ~Motion();
mettrque 0:bdca5e4773dd 40 void set(double position, float velocity);
mettrque 0:bdca5e4773dd 41 void set(double position, float velocity, float acceleration);
mettrque 0:bdca5e4773dd 42 void set(const Motion& motion);
mettrque 0:bdca5e4773dd 43 void setPosition(double position);
mettrque 0:bdca5e4773dd 44 double getPosition();
mettrque 0:bdca5e4773dd 45 void setVelocity(float velocity);
mettrque 0:bdca5e4773dd 46 float getVelocity();
mettrque 0:bdca5e4773dd 47 void setAcceleration(float acceleration);
mettrque 0:bdca5e4773dd 48 float getAcceleration();
mettrque 0:bdca5e4773dd 49 void setProfileVelocity(float profileVelocity);
mettrque 0:bdca5e4773dd 50 void setProfileAcceleration(float profileAcceleration);
mettrque 0:bdca5e4773dd 51 void setProfileDeceleration(float profileDeceleration);
mettrque 0:bdca5e4773dd 52 void setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration);
mettrque 0:bdca5e4773dd 53 float getTimeToPosition(double targetPosition);
mettrque 0:bdca5e4773dd 54 double getDistanceToStop();
mettrque 0:bdca5e4773dd 55 void incrementToVelocity(float targetVelocity, float period);
mettrque 0:bdca5e4773dd 56 void incrementToPosition(double targetPosition, float period);
mettrque 0:bdca5e4773dd 57
mettrque 0:bdca5e4773dd 58 private:
mettrque 0:bdca5e4773dd 59
mettrque 0:bdca5e4773dd 60 static const float DEFAULT_LIMIT; // default value for limits
mettrque 0:bdca5e4773dd 61 static const float MINIMUM_LIMIT; // smallest value allowed for limits
mettrque 0:bdca5e4773dd 62
mettrque 0:bdca5e4773dd 63 float profileVelocity;
mettrque 0:bdca5e4773dd 64 float profileAcceleration;
mettrque 0:bdca5e4773dd 65 float profileDeceleration;
mettrque 0:bdca5e4773dd 66 };
mettrque 0:bdca5e4773dd 67
mettrque 0:bdca5e4773dd 68 #endif /* MOTION_H_ */
mettrque 0:bdca5e4773dd 69