cml_trjscurve.h

来自「美国COPLEY驱动器,程序开发工具之一.」· C头文件 代码 · 共 123 行

/************************************************************/
/*                                                          */
/*  Copley Motion Libraries                                 */
/*                                                          */
/*  Author: Stephen Glow                                    */
/*                                                          */
/*  Copyright (c) 2002-2005 Copley Controls Corp.           */
/*                          http://www.copleycontrols.com   */
/*                                                          */
/************************************************************/

/** \file

This file defines the TrjScurve class.  This class is used to 
calculate asymmetric S-curve trajectory profiles for use by 
the Amp or Linkage objects.

*/

#ifndef _DEF_INC_TRJSCURVE
#define _DEF_INC_TRJSCURVE

#include "CML_Settings.h"
#include "CML_Trajectory.h"

CML_NAMESPACE_START()

/***************************************************************************/
/**
This class represents error conditions that can occur in the TrjScurve class.
*/
/***************************************************************************/
class ScurveError: public Error
{
public:
   static const ScurveError BadParam;            ///< Illegal input parameter
   static const ScurveError NoCalc;              ///< Trjaectory has not been calculated
   static const ScurveError InUse;               ///< Trajectory is currently in use
   static const ScurveError NotInUse;            ///< Trajectory has not been started

protected:
   /// Standard protected constructor
   ScurveError( uint16 id, const char *desc ): Error( id, desc ){}
};

/***************************************************************************/
/**
Asymmetric S-curve profile generator.  

A symmetric S-curve profile uses the same constraint for acceleration & 
deceleration.  Asymmetric profiles use different acceleration & deceleration
values.  Copley amplifiers are able to calculate symmetric profiles internally,
however if asymmetric s-curve profiles are required then they must be calculate
external to the amplifier, and passed to it using PVT profile mode.

This class extends the generic Trajectory class, and provides the code necessary
to calculate an asymmetric s-curve profile.  Since it extends the Trajectory
object, it may be passed to the Amp::SendTrajectory function.

Internally, the s-curve profile is stored as an absolute move from some starting
position.  This allows the same trajectory object to be reused for multiple moves
of the same distance from different starting positions.  The starting position
may be either passed to the TrjScurve::Calculate function, or set using 
TrjScurve::SetStartPos.
*/
/***************************************************************************/
class TrjScurve: public Trajectory 
{
   bool inUse;
   bool init;
   double P, V, A, D, J;
   double tj, tk, ta, td, tv;

   uunit start;

   int seg;
   double p,v,a,j;
   double remain;

   int AdvanceSegment( double &tf );

public:
   TrjScurve();

   void  SetStartPos( uunit s );
   uunit GetStartPos( void );
   const Error *Calculate( uunit start, uunit end, uunit vel, uunit acc, uunit dec, uunit jrk );
   const Error *Calculate( uunit dist, uunit vel, uunit acc, uunit dec, uunit jrk );

   const Error *StartNew( void );
   void Finish( void );
   const Error *NextSegment( uunit &pos, uunit &vel, uint8 &time );
};

/***************************************************************************/
/**
Multi-axis s-curve profile.  This extends the single axis TrjScurve object
for use in multi-axis linkage moves.
*/
/***************************************************************************/
class LinkTrjScurve: public LinkTrajectory
{
   TrjScurve trj;
   Point<CML_MAX_AMPS_PER_LINK> start;
   double scale[CML_MAX_AMPS_PER_LINK];

public:
   LinkTrjScurve();

   const Error *Calculate( PointN &start, PointN &end, uunit vel, uunit acc, uunit dec, uunit jrk );
   int GetDim( void ){ return start.getDim(); }

   const Error *StartNew( void );
   void Finish( void );
   const Error *NextSegment( uunit pos[], uunit vel[], uint8 &time );

};

CML_NAMESPACE_END()

#endif