Tinymovr

//  * This file is part of the Tinymovr-Firmware distribution
//  * (https://github.com/yconst/tinymovr-firmware).
//  * Copyright (c) 2020-2023 Ioannis Chatzikonstantinou.
//  *
//  * This program is free software: you can redistribute it and/or modify
//  * it under the terms of the GNU General Public License as published by
//  * the Free Software Foundation, version 3.
//  *
//  * This program is distributed in the hope that it will be useful, but
//  * WITHOUT ANY WARRANTY; without even the implied warranty of
//  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
//  * General Public License for more details.
//  *
//  * You should have received a copy of the GNU General Public License
//  * along with this program. If not, see <http://www.gnu.org/licenses/>.

#ifndef CONTROLLER_TRAJECTORY_PLANNER_H_
#define CONTROLLER_TRAJECTORY_PLANNER_H_

#include <src/common.h>

typedef struct {
	float max_accel;
	float max_decel;
	float max_vel;
    float deltat_accel;
    float deltat_total;
    float deltat_decel;
} TrajPlannerConfig;

typedef struct {
	uint8_t errors;
} PlannerState;

typedef struct
{
    // NOTE: The members of this struct are redundant,
    // i.e. not all are necessary to fully define a
    // trajectory. However this definition reduces the
    // computation during trajectory evaluation.
	float p_0;
    float p_target;
    float deltat_accel;
    float t_acc_cruise;
    float deltat_cruise;
    float t_cruise_dec;
    float deltat_decel;
    float t_end;
    float v_0;
    float v_cruise;
    float v_target;
    float acc;
    float dec;
    float p_acc_cruise;
    float p_cruise_dec;
} MotionPlan;

bool planner_move_to_tlimit(float p_target);
bool planner_move_to_vlimit(float p_targetl);
bool planner_prepare_plan_tlimit(float p_target, float deltat_total, float deltat_accel, float deltat_decel, MotionPlan *plan);
bool planner_prepare_plan_vlimit(float p_target, float v_max, float a_max, float d_max, MotionPlan *plan);
bool planner_set_max_accel(float max_accel);
bool planner_set_max_decel(float max_decel);
float planner_get_max_accel(void);
float planner_get_max_decel(void);
bool planner_set_max_vel(float max_vel);
float planner_get_max_vel(void);
float planner_get_deltat_accel(void);
bool planner_set_deltat_accel(float deltat_accel);
float planner_get_deltat_total(void);
bool planner_set_deltat_total(float deltat_total);
float planner_get_deltat_decel(void);
bool planner_set_deltat_decel(float deltat_decel);

uint8_t planner_get_errors(void);

bool traj_planner_evaluate(float t, MotionPlan *plan);

TrajPlannerConfig *traj_planner_get_config(void);
void traj_planner_restore_config(TrajPlannerConfig *config_);

#endif /* CONTROLLER_TRAJECTORY_PLANNER_H_ */