Class PositionControlProfile

Trapezoidal speed profile for positional control.

Generates and evaluates a trapezoidal speed profile curve with constant acceleration/deceleration.

Implements

SpeedProfile

Index

Constructors

Accessors

targetPosition time

Methods

evaluate plan reset

Constructors

constructor

new PositionControlProfile(): PositionControlProfile
Constructor.

Returns PositionControlProfile

Accessors

targetPosition

get targetPosition(): number
The target position.

Returns number

time

get time(): number
The total time for the profile.

Returns number

Methods

evaluate

evaluate(t: number, point: SpeedProfilePoint): void
Evaluates a point on the speed profile curve.
Parameters
- t: number
  The time.
- point: SpeedProfilePoint
  The evaluated point, which is updated.
Returns void
Implementation of SpeedProfile.evaluate

plan

plan(
    targetPosition: number,
    initialPosition: number,
    initialVelocity: number,
    maximumVelocity: number,
    maximumAcceleration: number,
    maximumDeceleration: number,
): void
Initializes the speed profile curve.
Parameters
- targetPosition: number
  The (signed) target position.
- initialPosition: number
  The (signed) initial position.
- initialVelocity: number
  The (signed) initial velocity.
- maximumVelocity: number
  The (unsigned) maximum/target velocity.
- maximumAcceleration: number
  The (unsigned) maximum/target acceleration.
- maximumDeceleration: number
  The (unsigned) maximum/target deceleration.
Returns void
Implementation of SpeedProfile.plan

reset

reset(): void
Resets the speed profile curve.

Returns void
Implementation of SpeedProfile.reset