File syn_interpolator.h¶

FileList > motor > syn_interpolator.h

Coordinated multi-axis linear & circular arc trajectory interpolator. More...

#include "../common/syn_defs.h"
#include "../util/syn_scurve.h"
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

Classes¶

Type	Name
struct	SYN_Interpolator Multi-Axis Interpolator configuration and state machine.
struct	SYN_Vector3F 3D Vector position in steps or user units

Public Types¶

Type	Name
enum	SYN_Interp_Mode Interpolation mode enum.

Public Functions¶

Type	Name
bool	syn_interpolator_eval_at_time (SYN_Interpolator * interp, float t_sec, SYN_Vector3F * out_pos, SYN_Vector3F * out_vel) Evaluate the interpolator at a specific time offset `t` seconds.
void	syn_interpolator_init (SYN_Interpolator * interp) Initialize a Multi-Axis Interpolator.
SYN_Status	syn_interpolator_plan_bezier (SYN_Interpolator * interp, SYN_Vector3F p0, SYN_Vector3F p1, SYN_Vector3F p2, SYN_Vector3F p3, float feedrate, float max_accel, float max_jerk, float step_res) Plan a Cubic 3D Bezier curve trajectory.
SYN_Status	syn_interpolator_plan_circular (SYN_Interpolator * interp, SYN_Vector3F start, SYN_Vector3F target, SYN_Vector3F center_offset, bool is_cw, float feedrate, float max_accel, float max_jerk, float step_res) Plan a Circular 2D arc move in XY plane.
SYN_Status	syn_interpolator_plan_linear (SYN_Interpolator * interp, SYN_Vector3F start, SYN_Vector3F target, float feedrate, float max_accel, float max_jerk, float step_res) Plan a Linear 2D/3D motion move.
bool	syn_interpolator_step (SYN_Interpolator * interp, SYN_Vector3F * out_pos) Advance the interpolator by one discrete step.

Detailed Description¶

Provides zero-allocation, fixed-step multi-axis DDA (Digital Differential Analyzer) vector trajectory generation for coordinated motion control across 2D/3D linear segments and 2D circular arcs.

Public Types Documentation¶

enum SYN_Interp_Mode¶

Interpolation mode enum.

enum SYN_Interp_Mode {
    SYN_INTERP_MODE_IDLE = 0,
    SYN_INTERP_MODE_LINEAR,
    SYN_INTERP_MODE_CIRCULAR_CW,
    SYN_INTERP_MODE_CIRCULAR_CCW
};

Public Functions Documentation¶

function syn_interpolator_eval_at_time¶

Evaluate the interpolator at a specific time offset t seconds.

bool syn_interpolator_eval_at_time (
    SYN_Interpolator * interp,
    float t_sec,
    SYN_Vector3F * out_pos,
    SYN_Vector3F * out_vel
)

Parameters:

interp Pointer to interpolator struct.
t_sec Time offset from start of move in seconds.
out_pos Out: Position vector at time t.
out_vel Out: Velocity vector at time t (optional, can be NULL).

Returns:

true if t <= move total time.

function syn_interpolator_init¶

Initialize a Multi-Axis Interpolator.

void syn_interpolator_init (
    SYN_Interpolator * interp
)

Parameters:

interp Pointer to interpolator struct.

function syn_interpolator_plan_bezier¶

Plan a Cubic 3D Bezier curve trajectory.

SYN_Status syn_interpolator_plan_bezier (
    SYN_Interpolator * interp,
    SYN_Vector3F p0,
    SYN_Vector3F p1,
    SYN_Vector3F p2,
    SYN_Vector3F p3,
    float feedrate,
    float max_accel,
    float max_jerk,
    float step_res
)

Parameters:

interp Pointer to interpolator struct.
p0 Start point P0.
p1 Control point P1.
p2 Control point P2.
p3 End point P3.
feedrate Desired tangential speed (units/sec).
max_accel Max acceleration (units/sec^2).
max_jerk Max jerk (units/sec^3).
step_res Spatial resolution per step.

Returns:

SYN_OK on success.

function syn_interpolator_plan_circular¶

Plan a Circular 2D arc move in XY plane.

SYN_Status syn_interpolator_plan_circular (
    SYN_Interpolator * interp,
    SYN_Vector3F start,
    SYN_Vector3F target,
    SYN_Vector3F center_offset,
    bool is_cw,
    float feedrate,
    float max_accel,
    float max_jerk,
    float step_res
)

Parameters:

interp Pointer to interpolator struct.
start Start position (X, Y).
target Target position (X, Y).
center_offset Center offset relative to start (I = center.x - start.x, J = center.y - start.y).
is_cw true for Clockwise, false for Counter-Clockwise.
feedrate Desired tangential speed (units/sec).
max_accel Max acceleration (units/sec^2).
max_jerk Max jerk (units/sec^3).
step_res Spatial resolution per step (units per step).

Returns:

SYN_OK on success.

function syn_interpolator_plan_linear¶

Plan a Linear 2D/3D motion move.

SYN_Status syn_interpolator_plan_linear (
    SYN_Interpolator * interp,
    SYN_Vector3F start,
    SYN_Vector3F target,
    float feedrate,
    float max_accel,
    float max_jerk,
    float step_res
)

Parameters:

interp Pointer to interpolator struct.
start Start position (X, Y, Z).
target Target position (X, Y, Z).
feedrate Desired vector velocity (units/sec).
max_accel Max acceleration (units/sec^2).
max_jerk Max jerk (units/sec^3).
step_res Spatial resolution per step (units per step, e.g. 0.001mm).

Returns:

SYN_OK on success.

function syn_interpolator_step¶

Advance the interpolator by one discrete step.

bool syn_interpolator_step (
    SYN_Interpolator * interp,
    SYN_Vector3F * out_pos
)

Parameters:

interp Pointer to interpolator struct.
out_pos Out: Calculated position after step.

Returns:

true if move active and advanced, false if move complete.

The documentation for this class was generated from the following file src/syntropic/motor/syn_interpolator.h