Class VelocityControlProfile

Trapezoidal speed profile for velocity control.

Implements

SpeedProfile

Index

Constructors

Methods

evaluate plan reset

Constructors

constructor

new VelocityControlProfile(): VelocityControlProfile
Constructor.

Returns VelocityControlProfile

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,
    targetVelocity: number,
    maximumAcceleration: number,
    maximumDeceleration: number,
): void
Initializes the speed profile curve.
Parameters
- targetPosition: number
  Unused.
- initialPosition: number
  The (signed) initial position.
- initialVelocity: number
  The (signed) initial velocity.
- targetVelocity: 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