Creates a trapezoidal motion profile
コード例 #1
0
        /// <summary>
        /// Creates a new ProfileFollower to follow the specified profile
        /// with an <see cref="IMotionController"/> for position correction
        /// </summary>
        /// <param name="profile"></param>
        /// <param name="kv"></param>
        /// <param name="ka"></param>
        /// <param name="correction"></param>
        public ProfileFollower(MotionProfile profile, double kv, double ka, IMotionController correction)
        {
            m_profile = profile;
            m_correction = correction;
            m_kv = kv;
            m_ka = ka;

            m_timer = new Stopwatch();
            SetPoint = m_profile.m_path.Last().Position;
        }
コード例 #2
0
        public static void ConstructorErrorTest()
        {
            //Mostly just checking for OutOfMemoryExceptions, which would indicate that
            //distance was never reached.

            MotionProfile m1 = new MotionProfile(10, 1, 1, 0.01);
            MotionProfile m2 = new MotionProfile(10, 10, 1, 0.01);
            MotionProfile m3 = new MotionProfile(-10, 1, 1, 0.01);
            MotionProfile m4 = new MotionProfile(-10, -1, -1, 0.01);
            MotionProfile m5 = new MotionProfile(10, -1, -1, 0.01);
        }
コード例 #3
0
 /// <summary>
 /// Creates a ProfileFollower to follow the specified profile.
 /// </summary>
 /// <param name="profile"></param>
 /// <param name="kv"></param>
 /// <param name="ka"></param>
 public ProfileFollower(MotionProfile profile, double kv, double ka)
     : this(profile, kv, ka, null)
 {
 }