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Alexandre Gut
2026-03-31 13:10:37 +02:00
commit 03325b9502
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34
Clean_TMC2209/lib/tmc/ramp/LinearRamp.h Normal file
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/*******************************************************************************
* Copyright © 2018 TRINAMIC Motion Control GmbH & Co. KG
* (now owned by Analog Devices Inc.),
*
* Copyright © 2023 Analog Devices Inc. All Rights Reserved. This software is
* proprietary & confidential to Analog Devices, Inc. and its licensors.
*******************************************************************************/
#ifndef TMC_LINEAR_RAMP_H_
#define TMC_LINEAR_RAMP_H_
#include "tmc/helpers/API_Header.h"
#include "tmc/helpers/Functions.h"
typedef struct
{
uint32_t maxVelocity;
int32_t targetPosition;
int32_t rampPosition;
int32_t targetVelocity;
int32_t rampVelocity;
int32_t acceleration;
uint16_t encoderSteps;
int32_t lastdVRest;
int32_t lastdXRest;
uint8_t rampEnabled;
} TMC_LinearRamp;
void tmc_linearRamp_init(TMC_LinearRamp *linearRamp);
void tmc_linearRamp_computeRampVelocity(TMC_LinearRamp *linearRamp);
void tmc_linearRamp_computeRampPosition(TMC_LinearRamp *linearRamp);
#endif /* TMC_LINEAR_RAMP_H_ */