File syn_scurve.h¶

FileList > src > syntropic > util > syn_scurve.h

Jerk-limited S-curve trajectory generator. More...

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

Classes¶

Type	Name
struct	SYN_SCurve S-curve trajectory generator state.
struct	SYN_SCurve3D Synchronized 3D S-Curve trajectory generator.

Public Functions¶

Type	Name
void	syn_scurve3d_plan (SYN_SCurve3D * sc3d, int32_t start_x, int32_t start_y, int32_t start_z, int32_t target_x, int32_t target_y, int32_t target_z, int32_t v_max, int32_t a_max, int32_t j_max) Initialize and plan a synchronized 3D vector move.
bool	syn_scurve3d_update (SYN_SCurve3D * sc3d, int32_t * out_x, int32_t * out_y, int32_t * out_z) Step 3D synchronized S-Curve profile by one tick.
void	syn_scurve_init (SYN_SCurve * sc, int32_t initial_p) Initialize the S-Curve generator.
void	syn_scurve_set_constraints (SYN_SCurve * sc, int32_t v_max, int32_t a_max, int32_t j_max) Configure the kinematic constraints.
void	syn_scurve_set_target (SYN_SCurve * sc, int32_t target) Set a new target position.
int32_t	syn_scurve_update (SYN_SCurve * sc) Update the trajectory generator by one time step (tick).

Public Static Functions¶

Type	Name
int32_t	syn_scurve_acceleration (const SYN_SCurve * sc) Get current acceleration.
bool	syn_scurve_done (const SYN_SCurve * sc) Check if trajectory is complete.
int32_t	syn_scurve_position (const SYN_SCurve * sc) Get current position.
int32_t	syn_scurve_velocity (const SYN_SCurve * sc) Get current velocity.

Detailed Description¶

Generates smooth motion profiles by bounding velocity, acceleration, and jerk. Ideal for stepper motors and servo positioning.

Public Functions Documentation¶

function syn_scurve3d_plan¶

Initialize and plan a synchronized 3D vector move.

void syn_scurve3d_plan (
    SYN_SCurve3D * sc3d,
    int32_t start_x,
    int32_t start_y,
    int32_t start_z,
    int32_t target_x,
    int32_t target_y,
    int32_t target_z,
    int32_t v_max,
    int32_t a_max,
    int32_t j_max
)

Parameters:

sc3d 3D profile pointer.
start_x Starting X coordinate.
start_y Starting Y coordinate.
start_z Starting Z coordinate.
target_x Target X coordinate.
target_y Target Y coordinate.
target_z Target Z coordinate.
v_max Vector max velocity.
a_max Vector max acceleration.
j_max Vector max jerk.

function syn_scurve3d_update¶

Step 3D synchronized S-Curve profile by one tick.

bool syn_scurve3d_update (
    SYN_SCurve3D * sc3d,
    int32_t * out_x,
    int32_t * out_y,
    int32_t * out_z
)

Parameters:

sc3d 3D profile pointer.
out_x Out: Current X coordinate.
out_y Out: Current Y coordinate.
out_z Out: Current Z coordinate.

Returns:

true if move active, false if completed.

function syn_scurve_init¶

Initialize the S-Curve generator.

void syn_scurve_init (
    SYN_SCurve * sc,
    int32_t initial_p
)

Parameters:

sc Pointer to generator.
initial_p Initial position.

function syn_scurve_set_constraints¶

Configure the kinematic constraints.

void syn_scurve_set_constraints (
    SYN_SCurve * sc,
    int32_t v_max,
    int32_t a_max,
    int32_t j_max
)

Parameters:

sc Pointer to generator.
v_max Maximum velocity (units/tick).
a_max Maximum acceleration (units/tick^2).
j_max Maximum jerk (units/tick^3).

function syn_scurve_set_target¶

Set a new target position.

void syn_scurve_set_target (
    SYN_SCurve * sc,
    int32_t target
)

Parameters:

sc Pointer to generator.
target Target position.

function syn_scurve_update¶

Update the trajectory generator by one time step (tick).

int32_t syn_scurve_update (
    SYN_SCurve * sc
)

Parameters:

sc Pointer to generator.

Returns:

Current position.

Public Static Functions Documentation¶

function syn_scurve_acceleration¶

Get current acceleration.

static inline int32_t syn_scurve_acceleration (
    const SYN_SCurve * sc
)

Parameters:

sc S-curve instance.

Returns:

Current acceleration value.

function syn_scurve_done¶

Check if trajectory is complete.

static inline bool syn_scurve_done (
    const SYN_SCurve * sc
)

Parameters:

sc S-curve instance.

Returns:

true if target reached.

function syn_scurve_position¶

Get current position.

static inline int32_t syn_scurve_position (
    const SYN_SCurve * sc
)

Parameters:

sc S-curve instance.

Returns:

Current position value.

function syn_scurve_velocity¶

Get current velocity.

static inline int32_t syn_scurve_velocity (
    const SYN_SCurve * sc
)

Parameters:

sc S-curve instance.

Returns:

Current velocity value.

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