simulatedMotor.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#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;
}