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updated firmware

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This commit is contained in:
0x23 2025-08-28 14:07:54 +02:00
parent 9891b8ed44
commit f17ca0c820
11 changed files with 273 additions and 56 deletions
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10
firmware/MotionControllerRP/src/motion_control/path_segment.h
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@ -64,7 +64,6 @@ class CartesianPathSegment {
void evaluate(float time, Pose6DF& pose) const;
float get_duration() const;
void compute_motion_profile();
public:
@ -76,6 +75,10 @@ class CartesianPathSegment {
LinearAngular end_velocity;
LinearAngular max_acceleration;
LinearAngular max_velocity_delta;
Vec3F translation_delta_normalized;
//Vec3F rotation_delta_axis;
LinearAngular travel_distance;
MotionProfileConstAcc motion_profile;
@ -121,8 +124,9 @@ class JointSpacePathSegmentGenerator {
float time_step
);
void reset();
bool generate_next(JointSpacePathSegment& js_path_segment);
void reset();
bool generate_next(JointSpacePathSegment& js_path_segment);
const CartesianPathSegment* get_path_segment() const;
private:
float delta_time; // time step size