hpm_mcl_path_plan.h

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/*
 * Copyright (c) 2023 HPMicro
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 */
#ifndef HPM_MCL_PATH_PLAN_H
#define HPM_MCL_PATH_PLAN_H
 
#include "hpm_mcl_common.h"
 
typedef struct {
    float acc;  
    float dec;  
    float speed;    
    float time; 
    float acc_time; 
    float dec_time; 
} path_plan_t_cure_cfg_t;;
 
typedef struct {
    path_plan_t_cure_cfg_t t_cure;
    float loop_ts;  
} mcl_path_plan_cfg_t;
 
typedef struct {
    mcl_path_plan_cfg_t *cfg;
    int32_t *pole_num;
    struct {
        path_plan_t_cure_cfg_t next;
        path_plan_t_cure_cfg_t current;
        bool next_empty;
        bool current_empty;
        uint32_t ts;
        uint32_t t0;
        uint32_t t1;
        uint32_t t2;
        float a0;
        float a1;
        float a2;
    } t_cure;
    struct {
        float next;
        float last;
        float current;
    } theta;
} mcl_path_plan_t;
 
#ifdef __cplusplus
extern "C" {
#endif
 
hpm_mcl_stat_t hpm_mcl_path_init(mcl_path_plan_t *path, mcl_path_plan_cfg_t *cfg, mcl_cfg_t *mcl);
 
hpm_mcl_stat_t hpm_mcl_path_update_t_cure(mcl_path_plan_t *path, path_plan_t_cure_cfg_t *cfg);
 
float hpm_mcl_path_get_current_theta(mcl_path_plan_t *path);
 
float hpm_mcl_path_get_next_theta(mcl_path_plan_t *path);
 
float hpm_mcl_path_get_last_theta(mcl_path_plan_t *path);
 
hpm_mcl_stat_t hpm_mcl_path_t_cure_generate(mcl_path_plan_t *path);
 
bool hpm_mcl_path_t_cure_complete(mcl_path_plan_t *path);
 
#ifdef __cplusplus
}
#endif
 
#endif