/// <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;
}
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);
}
/// <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)
{
}