File syn_scurve.h¶

File List > src > syntropic > util > syn_scurve.h
#ifndef SYN_SCURVE_H
#define SYN_SCURVE_H

#include "../common/syn_defs.h"

#include <stdbool.h>
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct {
    int32_t p; 
    int32_t v; 
    int32_t a; 
    int32_t j; 
    int32_t target_p; 
    int32_t v_max; 
    int32_t a_max; 
    int32_t j_max; 
    int32_t phase_ticks[7]; 
    int32_t current_phase;  
    int32_t ticks_in_phase; 
    int32_t dir;            
    bool done; 
} SYN_SCurve;

/* ── Kinematic state getters ───────────────────────────────────────────── */

static inline int32_t syn_scurve_position(const SYN_SCurve *sc)
{
    return sc->p;
}

static inline int32_t syn_scurve_velocity(const SYN_SCurve *sc)
{
    return sc->v;
}

static inline int32_t syn_scurve_acceleration(const SYN_SCurve *sc)
{
    return sc->a;
}

static inline bool syn_scurve_done(const SYN_SCurve *sc)
{
    return sc->done;
}

/* ── API ────────────────────────────────────────────────────────────────── */

void syn_scurve_init(SYN_SCurve *sc, int32_t initial_p);

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

void syn_scurve_set_target(SYN_SCurve *sc, int32_t target);

int32_t syn_scurve_update(SYN_SCurve *sc);

typedef struct {
    SYN_SCurve sc_master; 
    int32_t start_x, start_y, start_z;
    int32_t delta_x, delta_y, delta_z;
    uint32_t total_dist;
} SYN_SCurve3D;

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);

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

#ifdef __cplusplus
}
#endif
#endif // SYN_SCURVE_H