69 lines
2.2 KiB
C
69 lines
2.2 KiB
C
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/**********************************************************************
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* Author: tstern
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*
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Copyright (C) 2018 MisfitTech, All rights reserved.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <https://www.gnu.org/licenses/>.
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Written by Trampas Stern for MisfitTech.
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Misfit Tech invests time and resources providing this open source code,
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please support MisfitTech and open-source hardware by purchasing
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products from MisfitTech, www.misifittech.net!
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*********************************************************************/
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/*
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* This file implements a trajectory planner for use with serial
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* interface. It allows the smart stepper to move at constant velocity.
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* Additionally you can move to some location at constant velocity or
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* with a trajectory curve
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*/
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#ifndef PLANNER_H_
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#define PLANNER_H_
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#include "board.h"
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#include "stepper_controller.h"
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#define PLANNER_UPDATE_RATE_HZ (3000UL) //how often planner updates PID
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typedef enum {
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PLANNER_NONE =0,
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PLANNER_CV =1, //constant velocity
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//PLANNER_CA =2, //constant accleration
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//PLANNER_S_CURVE =3, //s-curve move
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} PlannerMode;
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class Planner
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{
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private:
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StepperCtrl *ptrStepperCtrl;
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volatile PlannerMode currentMode=PLANNER_NONE;
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//todo we should not use floating point, rather use "Angle"
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volatile float endAngle;
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volatile float startAngle;
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volatile float currentSetAngle;
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volatile float tickIncrement;
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public:
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void begin(StepperCtrl *ptrStepper);
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bool moveConstantVelocity(float finalAngle, float rpm); //moves to the final location at a constant RPM
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void tick(void); //this is called on regular tick interval
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void stop(void);
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bool done(void) {return currentMode==PLANNER_NONE;}
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};
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extern Planner SmartPlanner;
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#endif /* PLANNER_H_ */
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