88 lines
3.1 KiB
C++
88 lines
3.1 KiB
C++
#include "trapezoidal.h"
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// trapezoidal impl, not fuzzed
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// returns the position and velocity at the given time on a trapezoidal motion plan
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// this could be baked if too computationally expensive
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// not fully fuzzed
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struct Setpoint trapezoidal_planner(struct Trapezoidal* trapezoidal, float time) {
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float max_vel = trapezoidal->max_vel;
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float max_acc = trapezoidal->max_acc;
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float dist = trapezoidal->dist;
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struct Setpoint setpoint = {0.0, 0.0};
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float time_accelerating = max_acc / max_vel;
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float distance_while_accelerating = 0.5 * max_acc * time_accelerating * time_accelerating;
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if (2.0 * distance_while_accelerating > dist) {
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// triangular
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float peak_velocity_time = sqrt(dist/max_acc);
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float peak_velocity = max_acc * peak_velocity_time;
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if (time < peak_velocity_time) {
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// accelerating
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setpoint.velocity = max_acc * time;
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setpoint.position = 0.5 * max_acc * time * time;
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} else if (time < peak_velocity_time * 2.0) {
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// slowing down
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float time_decay = time - peak_velocity_time;
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setpoint.velocity = peak_velocity - (time_decay * max_acc);
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setpoint.position = (0.5 * max_acc * peak_velocity_time * peak_velocity_time) // acceleration phase
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+ peak_velocity * time_decay
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- 0.5 * max_acc * time_decay * time_decay;
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} else {
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setpoint.velocity = 0;
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setpoint.position = dist;
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setpoint.complete = true;
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}
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} else {
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// trapezoidal
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float cruise_distance = dist - 2.0 * distance_while_accelerating;
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float cruise_time = cruise_distance / max_vel;
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float total_time = 2 * time_accelerating + cruise_time;
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if (time < time_accelerating) {
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// still accelerating
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setpoint.velocity = time * max_acc;
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setpoint.position = 0.5 * max_acc * time * time;
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} else if (time < time_accelerating + cruise_time) {
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// cruising
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setpoint.velocity = max_vel;
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setpoint.position = distance_while_accelerating + max_vel * (time - time_accelerating);
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} else if (time < total_time) {
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// slowing down
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float time_decay = time - (time_accelerating + cruise_time);
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setpoint.velocity = max_vel - time_decay * max_acc;
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setpoint.position = distance_while_accelerating + cruise_distance
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+ (max_vel * time_decay)
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- 0.5 * max_acc * time_decay * time_decay;
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} else {
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//done
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setpoint.velocity = 0.0;
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setpoint.position = dist;
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setpoint.complete = true;
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}
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}
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return setpoint;
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}
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float trapezoidal_time(struct Trapezoidal* trapezoidal) {
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float max_vel = trapezoidal->max_vel;
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float max_acc = trapezoidal->max_acc;
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float dist = trapezoidal->dist;
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float time_accelerating = max_acc / max_vel;
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float distance_while_accelerating = 0.5 * max_acc * time_accelerating * time_accelerating;
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if (2.0 * distance_while_accelerating > dist) {
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// triangular
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float peak_velocity_time = sqrt(dist/max_acc);
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return peak_velocity_time * 2.0;
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} else {
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// trapezoidal
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float cruise_distance = dist - 2.0 * distance_while_accelerating;
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float cruise_time = cruise_distance / max_vel;
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float total_time = 2 * time_accelerating + cruise_time;
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return total_time;
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}
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}
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