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named variables as they should be

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This commit is contained in:
Andy Killorin 2025-12-06 14:22:56 -05:00
parent 17707897d6
commit f956c51d83
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 6 additions and 6 deletions
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12
robot_controller/robot_controller.ino
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@ -63,7 +63,7 @@ struct Setpoint {
// returns the position and velocity at the given time on a trapezoidal motion plan // returns the position and velocity at the given time on a trapezoidal motion plan
// this could be baked if too computationally expensive // this could be baked if too computationally expensive
// not fully fuzzed // not fully fuzzed
struct Setpoint trapezoidal_planner(float max_vel, float, max_acc, float dist, float time) { struct Setpoint trapezoidal_planner(float max_vel, float max_acc, float dist, float time) {
struct Setpoint setpoint = {0.0, 0.0}; struct Setpoint setpoint = {0.0, 0.0};
float time_accelerating = max_acc / max_vel; float time_accelerating = max_acc / max_vel;
@ -71,7 +71,7 @@ struct Setpoint trapezoidal_planner(float max_vel, float, max_acc, float dist, f
if (2.0 * distance_while_accelerating > dist) { if (2.0 * distance_while_accelerating > dist) {
// triangular // triangular
float peak_velocity_time = sqrt(distance/max_acc); float peak_velocity_time = sqrt(dist/max_acc);
float peak_velocity = max_acc * peak_velocity_time; float peak_velocity = max_acc * peak_velocity_time;
if (time < peak_velocity_time) { if (time < peak_velocity_time) {
@ -82,7 +82,7 @@ struct Setpoint trapezoidal_planner(float max_vel, float, max_acc, float dist, f
// slowing down // slowing down
float time_decay = time - peak_velocity_time; float time_decay = time - peak_velocity_time;
setpoint.velocity = peak_velocity - (time_decay * max_acc); setpoint.velocity = peak_velocity - (time_decay * max_acc);
setpoint.position = (0.5 * A * peak_velocity_time * peak_velocity_time) // acceleration phase setpoint.position = (0.5 * max_acc * peak_velocity_time * peak_velocity_time) // acceleration phase
+ peak_velocity * time_decay + peak_velocity * time_decay
- 0.5 * max_acc * time_decay * time_decay; - 0.5 * max_acc * time_decay * time_decay;
} else { } else {
@ -92,7 +92,7 @@ struct Setpoint trapezoidal_planner(float max_vel, float, max_acc, float dist, f
} }
} else { } else {
// trapezoidal // trapezoidal
float cruise_distance = distance - 2.0 * distance_while_accelerating; float cruise_distance = dist - 2.0 * distance_while_accelerating;
float cruise_time = cruise_distance / max_vel; float cruise_time = cruise_distance / max_vel;
float total_time = 2 * time_accelerating + cruise_time; float total_time = 2 * time_accelerating + cruise_time;
if (time < time_accelerating) { if (time < time_accelerating) {
@ -103,7 +103,7 @@ struct Setpoint trapezoidal_planner(float max_vel, float, max_acc, float dist, f
// cruising // cruising
setpoint.velocity = max_vel; setpoint.velocity = max_vel;
setpoint.position = distance_while_accelerating + max_vel * (time - time_accelerating); setpoint.position = distance_while_accelerating + max_vel * (time - time_accelerating);
} else if (time < time_total) { } else if (time < total_time) {
// slowing down // slowing down
float time_decay = time - (time_accelerating + cruise_time); float time_decay = time - (time_accelerating + cruise_time);
setpoint.velocity = max_vel - time_decay * max_acc; setpoint.velocity = max_vel - time_decay * max_acc;
@ -113,7 +113,7 @@ struct Setpoint trapezoidal_planner(float max_vel, float, max_acc, float dist, f
} else { } else {
//done //done
setpoint.velocity = 0.0; setpoint.velocity = 0.0;
setpoint.position = dest; setpoint.position = dist;
setpoint.complete = true; setpoint.complete = true;
} }
} }