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Firmware Version 1.0.4

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0x23 2026-03-13 09:10:45 +01:00
parent 18313cc6ae
commit e13cbda4cc
26 changed files with 794 additions and 256 deletions
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16
firmware/MotionControllerRP/src/motion_control/path_segment.h
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@ -14,6 +14,7 @@
//*** CONST *****************************************************************************
constexpr int NUM_JOINTS = 3;
constexpr int NUM_TOOLS = 2;
//*** CLASS *****************************************************************************
@ -63,11 +64,16 @@ class MotionProfileConstAcc {
class CartesianPathSegment {
public:
CartesianPathSegment();
CartesianPathSegment(const Pose6DF& start_pose,
const Pose6DF& end_pose,
const LinearAngular& velocity,
const LinearAngular& max_acceleration);
CartesianPathSegment(const Pose6DF& pose,float dwell_time);
const LinearAngular& max_acceleration,
const float tool_outputs[NUM_TOOLS]);
CartesianPathSegment(const Pose6DF& pose,
const float tool_outputs[NUM_TOOLS],
float dwell_time);
void evaluate(float time, Pose6DF& pose) const;
float get_duration() const;
@ -90,6 +96,7 @@ class CartesianPathSegment {
MotionProfileConstAcc motion_profile;
float dwell_time; // stay at start position for given duration if dwell_time > 0
float tool_outputs[NUM_TOOLS];
};
//--- JointSpacePathSegment -------------------------------------------------------------
@ -100,11 +107,13 @@ class JointSpacePathSegment {
JointSpacePathSegment();
JointSpacePathSegment(const float start_pos[NUM_JOINTS],
const float end_pos[NUM_JOINTS],
const float tool_outputs[NUM_TOOLS],
const float duration);
void evaluate(float time,
float joint_positions[NUM_JOINTS],
float joint_velocity[NUM_JOINTS]) const;
float joint_velocity[NUM_JOINTS],
float tool_outputs[NUM_TOOLS]) const;
float get_duration();
@ -116,6 +125,7 @@ class JointSpacePathSegment {
float end_pos[NUM_JOINTS];
float start_velocity[NUM_JOINTS];
float end_velocity[NUM_JOINTS];
float tool_outputs[NUM_TOOLS];
float duration;
float inv_duration;