simulatedMotor.cpp

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#include <schunk_powercube_chain/simulatedMotor.h>
#include <math.h>

                
simulatedMotor::simulatedMotor(double lowLimit, double upLimit, double maxAcc, double maxVel)
        : m_lastMove(0, 0, 0, 1, 1)
{
        m_ll = lowLimit;
        m_ul = upLimit;
        m_amax = fabs(maxAcc);
        m_vmax = fabs(maxVel);
        //deb = NULL;
        m_lastMove.start(); // Will be finished immediately, so that motor is at x=0, v=0
        T0 = 0.0008;
}

// Zunächst die Steuerungs-Funktionen: //

void simulatedMotor::moveRamp(double targetAngle, double vmax, double amax)
{
        double x = m_lastMove.pos();
        double v = m_lastMove.vel();
        
        // Range Check:
        if ( targetAngle < m_ll ) targetAngle = m_ll;
        else if ( targetAngle > m_ul ) targetAngle = m_ul;
        
        double vm = fabs(vmax);
        double am = fabs(amax);
        
        if ( vm > m_vmax ) vm = m_vmax;
        if ( am > m_amax ) am = m_amax;
        
        m_lastMove = RampCommand(x, v, targetAngle, am, vm);
        m_lastMove.start();
}


void simulatedMotor::moveVel(double vel)
{
        double x = m_lastMove.pos();
        double v = m_lastMove.vel();
        
        double targetAngle = x;
        
        // Move with constant v is RampMove to the corresponding limit!
        if ( vel > 0 ) 
                targetAngle = m_ul;
        else if ( vel < 0)
                targetAngle = m_ll;
        
        double vm = fabs(vel);
        if ( vm > m_vmax ) vm = m_vmax; 
        
        double a = fabs(vel-v) / T0;
        
        m_lastMove = RampCommand(x, v, targetAngle, a, vm);
        m_lastMove.start();
}


void simulatedMotor::movePos(double pos)
{
        double x = m_lastMove.pos();
        double v = m_lastMove.vel();
        
        double targetAngle = pos;

        // Range Check:
        if ( targetAngle < m_ll ) targetAngle = m_ll;
        else if ( targetAngle > m_ul ) targetAngle = m_ul;
        
        double vm = fabs(m_vmax);
        
        // move backwards?
        if ( pos < x )
                vm = -vm;
        
        double a = fabs(vm-v) / T0;
        
        m_lastMove = RampCommand(x, v, targetAngle, a, vm);
        m_lastMove.start();
}


void simulatedMotor::stop()
{
        // Stops immediately (would not be possible with a real motor)
        double x = m_lastMove.pos();
        double v = 0;
        
        m_lastMove = RampCommand(x, v, x, 1, 1);
        m_lastMove.start();
}

RampCommand simulatedMotor::getRampMove(double targetAngle, double vmax, double amax)
{
        double x = m_lastMove.pos();
        double v = m_lastMove.vel();
        
        // Range Check:
        if ( targetAngle < m_ll ) targetAngle = m_ll;
        else if ( targetAngle > m_ul ) targetAngle = m_ul;
        
        double vm = fabs(vmax);
        double am = fabs(amax);
        
        if ( vm > m_vmax ) vm = m_vmax;
        if ( am > m_amax ) am = m_amax;
        
        RampCommand rc(x, v, targetAngle, am, vm);
        return rc;
}