/* line */
RUNNING_LINE,
+
+ /* clitoid */
+ RUNNING_CLITOID_LINE,
+ RUNNING_CLITOID_CURVE,
};
struct circle_target {
uint8_t flags; /**< flags for this trajectory */
};
+/* for line and clitoid */
struct line_target {
line_t line;
double angle;
double advance;
+
+ /* only for clitoid */
+ point_t turn_pt;
+ double Aa;
+ double Va;
+ double alpha;
+ double R;
};
struct trajectory {
* when a_target < a_start */
double circle_coef;/**<< corrective circle coef */
- uint16_t d_speed; /**<< distance speed consign */
- uint16_t a_speed; /**<< angle speed consign */
+ double d_speed; /**<< distance speed consign */
+ double a_speed; /**<< angle speed consign */
+
+ double d_acc; /**<< distance acceleration consign */
+ double a_acc; /**<< angle acceleration consign */
struct robot_position *position; /**<< associated robot_position */
struct robot_system *robot; /**<< associated robot_system */
struct cs *csm_angle; /**<< associated control system (angle) */
struct cs *csm_distance; /**<< associated control system (distance) */
+ double cs_hz;
+
int8_t scheduler_task; /**<< id of current task (-1 if no running task) */
};
/** structure initialization */
-void trajectory_init(struct trajectory *traj);
+void trajectory_init(struct trajectory *traj, double cs_hz);
/** structure initialization */
void trajectory_set_cs(struct trajectory *traj, struct cs *cs_d,
struct robot_position *pos) ;
/** set speed consign */
-void trajectory_set_speed(struct trajectory *traj, int16_t d_speed, int16_t a_speed);
+void trajectory_set_speed(struct trajectory *traj, double d_speed, double a_speed);
+
+/** set speed consign */
+void trajectory_set_acc(struct trajectory *traj, double d_acc, double a_acc);
/**
* set windows for trajectory.
* position consign (after quadramp filter), for angle and
* distance. */
uint8_t trajectory_finished(struct trajectory *traj);
+uint8_t trajectory_angle_finished(struct trajectory *traj);
+uint8_t trajectory_distance_finished(struct trajectory *traj);
/** return true if traj is nearly finished depending on specified
* parameters */
void trajectory_circle_rel(struct trajectory *traj, double x, double y,
double radius_mm, double rel_a_deg, uint8_t flags);
+/*
+ * Compute the fastest distance and angle speeds matching the radius
+ * from current traj_speed
+ */
+void circle_get_da_speed_from_radius(struct trajectory *traj,
+ double radius_mm,
+ double *speed_d,
+ double *speed_a);
+
/* do a line */
void trajectory_line_abs(struct trajectory *traj, double x1, double y1,
double x2, double y2, double advance);