robot_controller/robot_controller.ino

@@ -2,7 +2,6 @@
 #include <Wire.h>
 #include <smartmotor.h>
 #include <SMC_gains.h>
-#include "trapezoidal.h"
 
 const float ACCEL_LIMIT = 4.0; // cm/s/s
 const float VEL_LIMIT = 16.0; // cm/s
@@ -92,7 +91,7 @@ void loop() {
   Serial.println("");
 
   // move on if at setpoint TODO: check that the error is low as well
-  if (setpoint.complete) {
+  if (setpoint.completed) {
     switch (robot_state) {
       case FORWARD:
         robot_state = TURN;

robot_controller/trapezoidal.h

@@ -1,22 +0,0 @@
-#pragma once
-
-// unitless trapezoidal
-struct Trapezoidal {
-  float max_vel;
-  float max_acc;
-  float dist;
-};
-
-struct Setpoint {
-  float velocity; // unitless
-  float position; // unitless
-  bool complete; // the setpoint will no longer change
-};
-
-// returns the position and velocity at the given time on a trapezoidal motion plan
-// this could be baked if too computationally expensive
-// not fully fuzzed
-struct Setpoint trapezoidal_planner(struct Trapezoidal* trapezoidal, float time);
-
-// returns the time a given plan will take
-float trapezoidal_time(struct Trapezoidal* trapezoidal);

robot_controller/trapezoidal.ino

@@ -1,6 +1,21 @@
-#include "trapezoidal.h"
 // trapezoidal impl, not fuzzed
 
+// unitless trapezoidal
+struct Trapezoidal {
+  float max_vel;
+  float max_acc;
+  float dist;
+};
+
+struct Setpoint {
+  float velocity; // unitless
+  float position; // unitless
+  bool complete; // the setpoint will no longer change
+};
+
+// returns the position and velocity at the given time on a trapezoidal motion plan
+// this could be baked if too computationally expensive
+// not fully fuzzed
 struct Setpoint trapezoidal_planner(struct Trapezoidal* trapezoidal, float time) {
   float max_vel = trapezoidal->max_vel;
   float max_acc = trapezoidal->max_acc;