/MotionProfileGenerator

Primary LanguageC++MIT LicenseMIT

Motion profile generator

Matlab and cpp (Arduino specific) libraries are available. It should be relatively easy to port the cpp version to other platforms.

Features

  • On the fly profile generation

  • Supports Trapezoidal and Constant motion profiles

Usage

#include "MotionProfile.h"

/**
 * Initialization
 *
 * @param int aVelocityMax maximum velocity (units/s)
 * @param int aAccelerationMax maximum acceleration (units/s^2)
 * @param short aMethod method of profile generation (1 = trapezoidal)
 * @param int aSampleTime sample time (ms)
 */
MotionProfile trapezoidalProfile = new MotionProfile(200, 100, 1, 10);

/**
 * Usage
 */
 // Update setpoint for profile calculation and retrieve calculated setpoint
 float finalSetpoint = 1000;
 float setpoint = trapezoidalProfile->update(finalSetpoint)

 // Check if profile is finished
 if (trapezoidalProfile->getFinished()) {};

 // Reset internal state
 trapezoidalProfile->reset();

Example graphs

Trapezoidal motion profile

![Simulation of a trapezoidal motion profile](https://raw.githubusercontent.com/WRidder/MotionProfileGenerator/master/images/motionprofile_trapezoidal.png) Limit velocity at 0.15 units/s and acceleration at 0.1 units/s^2.

Constant motion profile

![Simulation of a constant motion profile](https://raw.githubusercontent.com/WRidder/MotionProfileGenerator/master/images/motionprofile_const.png) Limit velocity at 0.15 units/s.

Usage of generator in an experiment

Author

This library has been developed by [Wilbert van de Ridder](http://www.github.com/WRidder) as part of a BSc assignment at the [University of Twente](http://www.utwente.nl).