Class MotionGenerator

• Defined in File motion_generator.hpp

Class Documentation

class MotionGenerator

Generates the analytical solution for the trapezoidal motion.

Usage: // Includes #include “MotionGenerator.h”

Initialization

Define the MotionGenerator object MotionGenerator *trapezoidalProfile = new MotionGenerator(100, 400, 0); Retrieve calculated position double positionRef = 1000; double position = trapezoidalProfile->update(positionRef) Retrieve current velocity double velocity = trapezoidalProfile->getVelocity(); Retrieve current acceleration double acceleration = trapezoidalProfile->getAcceleration(); Check if profile is finished if (trapezoidalProfile->getFinished()) {}; Reset internal state trapezoidalProfile->reset();

Author

AerDronix aerdronix@gmail.com @web https://aerdronix.wordpress.com/

Version

1.0

Since

2016-12-22

Param int:

aVelMax maximum velocity (units/s)

Param int:

aAccMax maximum acceleration (units/s^2)

Param int:

aInitPos initial position (units)

Public Functions

MotionGenerator(double aMaxVel, double aMaxAcc, double aInitPos)

Constructor

Parameters:

• int – aVelocityMax maximum velocity

• int – aAccelerationMax maximum acceleration

void init()

double update(double aPosRef)

Updates the state, generating new setpoints

Parameters:

aSetpoint – The current setpoint.

double getVelocity()

double getAcceleration()

bool getFinished()

void setMaxVelocity(double aMaxVel)

void setMaxAcceleration(double aMaxAcc)

void setInitPosition(double aInitPos)

void reset()