Motion profile generator.

[Darrel Taylor]

Ok Henrik, here's what I came up with.

To start a movement, set the three variables and call the ProfileStart subroutine.

MaxAcceleration = 10     ; starting values
MaxVelocity     = 100
TargetPosition  = 2000
GOSUB ProfileStart

Then for each period, call the ProfileStep subroutine, and the variables ... ThisAccel, Velocity and Position will be updated.
When the TargetPosition has been reached, the ProfileComplete flag will be set.

For the above values, the output of the test program looks like this ...
Like your original example, the first column is Acceleration change, second column Velocity, third column Position.

1 = Edit MaxAcceleration (10)
2 = Edit MaxVelocity     (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   
   0     100     650   
   0     100     750   
   0     100     850   
   0     100     950   
   0     100    1050   
   0     100    1150   
   0     100    1250   
   0     100    1350   
   0     100    1450   
   0     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 MaxAcceleration (10)
2 = Edit MaxVelocity     (100)
3 = Edit TargetPosition  (2000)
Enter = GO
>

I quickly tried the "Ease From" and "Ease To", but it messed up the final position so i pulled it back out.
I'll have to think about it some more.

The MaxAcceleration variable will get changed on small moves.
So you should keep a separate variable and copy it to MaxAcceleration before starting a profile.

Hopefully, this is somewhere close to what you were looking for.
Try the test program, and as many combinations of the settings as you can first.
I'd hate to ruin your CNC.

If you can follow the code in the include file, and it makes sense ...
You should see a psychiatrist as soon as possible.