Motion profile generator.

[Darrel Taylor]

Well, I was thinking more of the decimal remainder than the modulas remainder.

But in trying to recreate the code, I'm seeing some big limitations in the theory.
The only way to end up at the exact Target Position, is to have a Position that is an exact multiple of V_Max.

With V_Max = 100, you can only get target positions of 1800, 1900, 2000, 2100 etc.
I would think you would want more precise targets ...

Currently, I can get +/- 5 counts from those targets by using the decimal remainder idea.
I think I can change it to reach any target position, but then I see more problems down the road.

This only ramps from 0 to a target.
It won't go from target to target.
Unless there's some other steps in the process that I'm missing.

Here's some output from the test program.
If I can figure the rest out, I'll post the code.

1 = Edit Max_Acceleration (10)
2 = Edit Max_Velocity     (100)
3 = Edit TargetPosition   (2000)
Enter = GO
>

    0       0       0   
   10      10      10   
   10      20      30   
   10      30      60   
   10      40     100   
   10      50     150   
   10      60     210   
   10      70     280   
   10      80     360   
   10      90     450   
   10     100     550   
   10     100     650   
   10     100     750   
   10     100     850   
   10     100     950   
   10     100    1050   
   10     100    1150   
   10     100    1250   
   10     100    1350   
   10     100    1450   
   10     100    1550   
   10      90    1640   
   10      80    1720   
   10      70    1790   
   10      60    1850   
   10      50    1900   
   10      40    1940   
   10      30    1970   
   10      20    1990   
   10      10    2000   
   10       0    2000   

1 = Edit Max_Acceleration (10)
2 = Edit Max_Velocity     (100)
3 = Edit TargetPosition   (2000)
Enter = GO
>1
Enter new Max_Acceleration (10):15

Max_Acceleration = 15

1 = Edit Max_Acceleration (15)
2 = Edit Max_Velocity     (100)
3 = Edit TargetPosition   (2000)
Enter = GO
>

    0       0       0   
   14      14      14   
   14      28      42   
   14      42      84   
   14      57     141   
   14      71     212   
   14      85     297   
   14      99     396   
   14     100     496   
   14     100     596   
   14     100     696   
   14     100     796   
   14     100     896   
   14     100     996   
   14     100    1096   
   14     100    1196   
   14     100    1296   
   14     100    1396   
   14     100    1496   
   14     100    1596   
   14     100    1696   
   14      86    1782   
   14      72    1854   
   14      58    1912   
   14      43    1955   
   14      29    1984   
   14      15    1999   
   14       0    1999   

1 = Edit Max_Acceleration (15)
2 = Edit Max_Velocity     (100)
3 = Edit TargetPosition   (2000)
Enter = GO
>3
Enter new TargetPosition (2000):1800

TargetPosition = 1800

1 = Edit Max_Acceleration (15)
2 = Edit Max_Velocity     (100)
3 = Edit TargetPosition   (1800)
Enter = GO
>

    0       0       0   
   14      14      14   
   14      28      42   
   14      42      84   
   14      57     141   
   14      71     212   
   14      85     297   
   14      99     396   
   14     100     496   
   14     100     596   
   14     100     696   
   14     100     796   
   14     100     896   
   14     100     996   
   14     100    1096   
   14     100    1196   
   14     100    1296   
   14     100    1396   
   14     100    1496   
   14      86    1582   
   14      72    1654   
   14      57    1711   
   14      43    1754   
   14      29    1783   
   14      14    1797   
   14       0    1797   

1 = Edit Max_Acceleration (15)
2 = Edit Max_Velocity     (100)
3 = Edit TargetPosition   (1800)
Enter = GO
>2
Enter new Max_Velocity (100):90

Max_Velocity = 90

1 = Edit Max_Acceleration (15)
2 = Edit Max_Velocity     (90)
3 = Edit TargetPosition   (1800)
Enter = GO
>

    0       0       0   
   15      15      15   
   15      30      45   
   15      45      90   
   15      60     150   
   15      75     225   
   15      90     315   
   15      90     405   
   15      90     495   
   15      90     585   
   15      90     675   
   15      90     765   
   15      90     855   
   15      90     945   
   15      90    1035   
   15      90    1125   
   15      90    1215   
   15      90    1305   
   15      90    1395   
   15      90    1485   
   15      90    1575   
   15      75    1650   
   15      60    1710   
   15      45    1755   
   15      30    1785   
   15      15    1800   
   15       0    1800   

1 = Edit Max_Acceleration (15)
2 = Edit Max_Velocity     (90)
3 = Edit TargetPosition   (1800)
Enter = GO
>

I'm just going from your description, I haven't tried to convert the original code.

My questions:

• Is it supposed to be able to move to any target position? Not just a multiple of V_Max?
• Is it supposed to move from any position to any other position?
• Or is that part handled in your routines? And this is just a "profile" that gets mapped onto the movement?