*

Makerbase_ODrive/ODrive-fw-v0.5.1/Firmware/MotorControl/trapTraj.hpp

@@ -0,0 +1,44 @@
+#ifndef _TRAP_TRAJ_H
+#define _TRAP_TRAJ_H
+
+class TrapezoidalTrajectory {
+public:
+    struct Config_t {
+        float vel_limit = 2.0f;   // [turn/s]
+        float accel_limit = 0.5f; // [turn/s^2]
+        float decel_limit = 0.5f; // [turn/s^2]
+    };
+    
+    struct Step_t {
+        float Y;
+        float Yd;
+        float Ydd;
+    };
+
+    explicit TrapezoidalTrajectory(Config_t& config);
+    bool planTrapezoidal(float Xf, float Xi, float Vi,
+                         float Vmax, float Amax, float Dmax);
+    Step_t eval(float t);
+
+    Axis* axis_ = nullptr;  // set by Axis constructor
+    Config_t& config_;
+
+    float Xi_;
+    float Xf_;
+    float Vi_;
+
+    float Ar_;
+    float Vr_;
+    float Dr_;
+
+    float Ta_;
+    float Tv_;
+    float Td_;
+    float Tf_;
+
+    float yAccel_;
+
+    float t_;
+};
+
+#endif