PositionGenerator Class Reference

Used for generating position signals based on a target position and maximum velocity. More...

#include <generators.hpp>

Inheritance diagram for PositionGenerator:

Public Member Functions
	PositionGenerator ()
	Default constructor for PositionGenerator. Does not initialize the Generator. Call begin() to set up the generator.
void	begin ()
	Initialize the PositionGenerator. Must be called to set up the generator.
void	set_speed (ControlParameter speed)
	Set the speed (maximum velocity) for the PositionGenerator.
void	go (float64_t distance_or_position, uint8_t mode)
	Command the PositionGenerator to move to a specified distance or position.
void	go (float64_t distance_or_position, uint8_t mode, ControlParameter speed)
	Command the PositionGenerator to move to a specified distance or position with a specified speed.

Public Attributes
volatile ControlParameter	speed_units_per_sec = 0
	ControlParameter that determines the speed of the PositionGenerator. Will not be used if speed is provided in the go() command.
BlockPort	output
	Output BlockPort for the PositionGenerator. This is what you map from to a downstream component.

Protected Member Functions
void	run ()

Detailed Description

Used for generating position signals based on a target position and maximum velocity.

A PositionGenerator maintains an internal position state and incrementally drives an output to reach a specified target position under the constraints of a maximum velocity. It is useful for generating smooth trajectories to an absolute or relative position. Position generators do not require an input signal, as they generate motion based on internal state and commands. Here's an example of how to instantiate and configure a PositionGenerator:

   // Will move a channel to a target position at a specified maximum velocity when a button is pressed.
#define module_driver
#include "stepdance.hpp"
 
PositionGenerator pos_gen;
Channel channel_a;
OutputPort output_a;
Button start_button;
 
void setup() {
 
   // Initialize OutputPort A
  output_a.begin(OUTPUT_A);
    // Enable the output drivers
  enable_drivers();
 
  // Map PositionGenerator output to Channel A's target position
  pos_gen.output.map(channel_a.input_target_position);
  pos_gen.begin();
 
  // Initialize Channel A
  channel_a.begin(&output_a, SIGNAL_E); // Connect Channel A to OutputPort A's SIGNAL_E
 
  // Set speed for PositionGenerator
  pos_gen.set_speed(50.0); // Set velocity to 50 units per second
 
  start_button.begin(IO_D1); // Initialize button on physical input port IO_D1  
  start_button.set_callback_on_release(&onButtonRelease); // Set callback function for button press event
 
  dance_start();
} 
void onButtonRelease() {
  // Command PositionGenerator to move to target position when button is released
  pos_gen.go(100.0, ABSOLUTE); // Move to absolute position of 100.0 units
}
 
void loop(){
dance_loop();
}

Member Function Documentation

go() [1/2]

void PositionGenerator::go	(	float64_t	distance_or_position,
		uint8_t	mode )

Command the PositionGenerator to move to a specified distance or position.

Parameters

distance_or_position	The target distance (incremental) or position (absolute).
mode	The mode of operation: INCREMENTAL or ABSOLUTE.

go() [2/2]

void PositionGenerator::go	(	float64_t	distance_or_position,
		uint8_t	mode,
		ControlParameter	speed )

Command the PositionGenerator to move to a specified distance or position with a specified speed.

Parameters

distance_or_position	The target distance (incremental) or position (absolute).
mode	The mode of operation: INCREMENTAL, ABSOLUTE, or GLOBAL
speed	The speed in units per second.

set_speed()

void PositionGenerator::set_speed

(

ControlParameter

speed

)

Set the speed (maximum velocity) for the PositionGenerator.

Parameters

speed

The speed in units per second.

Member Data Documentation

output

BlockPort PositionGenerator::output

Output BlockPort for the PositionGenerator. This is what you map from to a downstream component.

position_gen.output.map(channelX.input_target_position); // Map PositionGenerator output to ChannelX target position

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The documentation for this class was generated from the following file:

• lib/generators.hpp