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trapq: Add new trapq.c file with code for trapezoidal velocity handling

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Move the "struct move" code from itersolve.c to new file trapq.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-27 13:23:03 -04:00
parent 374eb98765
commit fdbdb3c707
11 changed files with 142 additions and 126 deletions
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30
klippy/chelper/trapq.h Normal file
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#ifndef TRAPQ_H
#define TRAPQ_H
struct coord {
double x, y, z;
};
struct move_accel {
double c1, c2;
};
struct move {
double print_time, move_t;
double accel_t, cruise_t;
double cruise_start_d, decel_start_d;
double cruise_v;
struct move_accel accel, decel;
struct coord start_pos, axes_r;
};
struct move *move_alloc(void);
void move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);
#endif // trapq.h