Motion profile generator.

[richard]

its mainly the idea's I'm experimenting with at this stage . this one is to increment the setpoint not at the pid update rate but a rate that suits the acceleration / velocity . in the example that would be every 8 mS. it would be fairly simple to clamp the velocity at any rate after the acceleration move (the pid offset is constant), short moves can easily be accommodated by calculatining a lower vmax, the decelerate phase would begin when distance remaining = or less than the total accelerate displacement and then the accelerate parameter blocks are fed into pid setpoint in reverse leaving no doubt at all for the final move. assuming of course that you can sync the real position with where the ramp-generator thinks it is but you have plenty of steps here to adjust out any error.
speed wise after the initial "move" parameters are calculated the array could be filled in on the fly if you have the processing time, I like the array idea because it applies easily to both acceleration phases for the move. biggest problem I can see is that the block rate could vary with each "move " (this keeps the numbers manageable) so you would to be able to provide an accurate but variable timebase for the block clock
its a work in progress