TrapezoidalProfile

warning

The velocity units must be in (inches/seconds) and the acceleration units in (inches/seconds²) Otherwise, the code will not work as expected.

Constructor

TrapezoidalProfile()

Trapezoidal profile constructor. Create a new trapezoidal profile.

Prototype
Example

    TrapezoidalProfile(float max_velocity, float max_acceleration);

void autonomous(){
    lightning::TrapezoidalProfile profile (5,1); //5 inches/second, 1 inches/second^2 
}

Parameters
`max_velocity`	What would be the maximum profile velocity?.
`max_acceleration`	What would be the maximum profile accleration? .

Functions

update()

Updates the trapezoidal profile giving the target and the sample time.

Prototype
Example

    void update(const float target, float sample_time_sec);

lightning::TrapezoidalProfile profile (5,1); //5 inches/second, 1 inches/second^2 
void autonomous(){
    //target= 48 inches.
    //sample_time_sec = .01 seconds.
    profile.update(48,.01); 
}

Parameters
`target`	How many distance you would travel in inches.
`sample_time_sec`	The update rate in secconds. .

reset()

Resets the trapezoidal profile.

note

The function erases and clean all the profile.

Prototype
Example

    void reset();

void autonomous(){
    lightning::TrapezoidalProfile profile (5,1); //5 inches/second, 1 inches/second^2 
    profile.update(48,.01);  // 48 inches , .01 sec

    /*
    USING THE PROFILE during autonomous 
    */

    //When we finish using the profile
    profile.reset();
}

is_ready()

Checks if the profile its ready to use.

Prototype
Example

    bool is_ready() const;

void autonomous(){
    lightning::TrapezoidalProfile profile (5,1); //5 inches/second, 1 inches/second^2
    profile.update(48,.01); // 48 inches , .01 sec
    
    if(profile.is_ready()){
    /*
    MAKE THINGS 
    */
    } 
}

Setters

set_parameters()

Sets the main parameters for the profile.

Prototype
Example

    void set_parameters(const float max_velocity, const float max_acceleration); 

lightning::TrapezoidalProfile profile (5,1); //5 inches/second, 1 inches/second^2 
void autonomous(){
    profile.set_parameters(10,2); //10 inches/second, 2 inches/second^2
}

Parameters
`max_velocity`	What would be the maximum profile velocity?.
`max_acceleration`	What would be the maximum profile accleration? .

set_max_velocity()

Sets the maximum profile velocity.

Prototype
Example

    void set_max_velocity(const float max_velocity);

lightning::TrapezoidalProfile profile (5,1); //5 inches/second, 1 inches/second^2 
void autonomous(){
    profile.set_max_velocity(10); //5 inches/second 
}

Parameters
`max_velocity`	What would be the maximum profile velocity?.

set_max_acceleration()

Sets the maximum profile acceleration.

Prototype
Example

    void set_max_acceleration(const float max_acceleration);

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.set_max_velocity(10); //10 inches/second
    profile.set_max_acceleration(2); //2 inches/second^2
}

Parameters
`max_acceleration`	What would be the maximum profile accleration? .

Getters

get_velocity_at()

Gets the desired velocity giving a point.

Prototype
Example

    float get_velocity_at(int index) const;

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec

    float velocity = profile.get_velocity_at(5) //getting the velocity at index 5. 
}

Parameters
`index`	Index the profile index.

Returns: The desired velocity.

get_max_velocity()

Gets the maximum profile velocity.

Prototype
Example

    float get_max_velocity() const;

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec

    float max_velocity = profile.get_max_velocity(); 
}

Returns: The maximum velocity.

get_max_acceleration()

Gets the maximum profile acceleration.

Prototype
Example

    float get_max_acceleration() const;

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec

    float max_acceleration = profile.get_max_acceleration(); 
}

Returns: The maximum acceleration.

get_accel_time()

Gets the acceleration time.

Prototype
Example

    float get_accel_time() const;

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec

    float accel_time = profile.get_accel_time(); 
}

Returns: The acceleration time.

get_accel_distance()

Gets the acceleration distance (acceleration phase).

Prototype
Example

    float get_accel_distance() const;

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec

    float accel_distance = profile.get_accel_distance(); 
}

Returns: The acceleration time.

get_desaccel_distance()

Gets the desacceleration distance (desacceleration phase).

Prototype
Example

    float get_desaccel_distance() const;

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec

    float desaccel_distance = profile.get_desaccel_distance();
}

Returns: Gets the desacceleration time.

get_velocity_constant_distance()

Gets the constant velocity distance (constant acceleration phase).

Prototype
Example

    float get_velocity_constant_distance() const;

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec

    float velocity_constant_distance = profile.get_velocity_constant_distance();
}

Returns: Gets the constant velocity distance.

get_time_to_arrived()

Gets the time to arrive.

Prototype
Example

    float get_time_to_arrived() const; 

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec

    float time_to_arrived = profile.get_time_to_arrived();  // in seconds
}

Returns: The time to arrive in seconds.

get_size()

Returns the profile size.

Prototype
Example

    std::size_t get_size() const; 

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec

    int profile_size = profile.get_size();
}

Returns: The current profile size.

get_velocities()

Return a vector with the desired velocities using the trapezoidal profile.

Prototype
Example

    std::vector<float> get_velocities() const;

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec
    
    //Saving the profile velocities to a new vector.
    std::vector<float> profile_velocities = profile.get_velocities(); 
}

Returns: Desired velocities vector.

Operators

`std::ostream &operator <<`

Prints the desired velocities of a TrapezoidalProfile object in Integrated Terminal.

Prototype
Example

    std::ostream &operator<<(std::ostream &os,const TrapezoidalProfile &profile);

lightning::TrapezoidalProfile profile (5,1); 
void autonomous(){
    profile.update(48,.01); // 48 inches , .01 sec
    
    //Printing velocities
    std::cout<<profile; 
}

TrapezoidalProfile

Constructor​

TrapezoidalProfile()​

Functions​

update()​

reset()​

is_ready()​

Setters​

set_parameters()​

set_max_velocity()​

set_max_acceleration()​

Getters​

get_velocity_at()​

get_max_velocity()​

get_max_acceleration()​

get_accel_time()​

get_accel_distance()​

get_desaccel_distance()​

get_velocity_constant_distance()​

get_time_to_arrived()​

get_size()​

get_velocities()​

Operators​

std::ostream &operator <<​