35 lines
1.1 KiB
C
35 lines
1.1 KiB
C
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/*******************************************************************************
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* Copyright © 2018 TRINAMIC Motion Control GmbH & Co. KG
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* (now owned by Analog Devices Inc.),
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*
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* Copyright © 2023 Analog Devices Inc. All Rights Reserved. This software is
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* proprietary & confidential to Analog Devices, Inc. and its licensors.
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*******************************************************************************/
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#ifndef TMC_LINEAR_RAMP_H_
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#define TMC_LINEAR_RAMP_H_
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#include "tmc/helpers/API_Header.h"
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#include "tmc/helpers/Functions.h"
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typedef struct
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{
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uint32_t maxVelocity;
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int32_t targetPosition;
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int32_t rampPosition;
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int32_t targetVelocity;
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int32_t rampVelocity;
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int32_t acceleration;
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uint16_t encoderSteps;
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int32_t lastdVRest;
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int32_t lastdXRest;
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uint8_t rampEnabled;
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} TMC_LinearRamp;
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void tmc_linearRamp_init(TMC_LinearRamp *linearRamp);
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void tmc_linearRamp_computeRampVelocity(TMC_LinearRamp *linearRamp);
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void tmc_linearRamp_computeRampPosition(TMC_LinearRamp *linearRamp);
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#endif /* TMC_LINEAR_RAMP_H_ */
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