ManualVelocitySmoothingZ.hpp

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/**
 * @file ManualVelocitySmoothingZ.hpp
 *
 */

#pragma once

#include "VelocitySmoothing.hpp"

class ManualVelocitySmoothingZ final
{
public:
    ManualVelocitySmoothingZ() = default;
    ~ManualVelocitySmoothingZ() = default;

    void reset(float accel, float vel, float pos);
    void update(float dt, float velocity_target);

    void setVelSpFeedback(const float fb) { _velocity_setpoint_feedback = fb; }

    void setMaxJerk(const float max_jerk)
    {
        _trajectory.setMaxJerk(max_jerk);
    }
    void setMaxAccelUp(const float max_accel_up)
    {
        _max_accel_up = max_accel_up;
    }
    void setMaxAccelDown(const float max_accel_down)
    {
        _max_accel_down = max_accel_down;
    }
    void setMaxVelUp(const float max_vel_up)
    {
        _max_vel_up = max_vel_up;
    }
    void setMaxVelDown(const float max_vel_down)
    {
        _max_vel_down = max_vel_down;
    }

    float getCurrentJerk() const { return _state.j; }
    float getCurrentAcceleration() const { return _state.a; }
    void setCurrentVelocity(const float vel)
    {
        _state.v = vel;
        _trajectory.setCurrentVelocity(vel);
    }
    float getCurrentVelocity() const { return _state.v; }
    void setCurrentPosition(const float pos)
    {
        _state.x = pos;
        _trajectory.setCurrentPosition(pos);
    }
    float getCurrentPosition() const { return _position_setpoint_locked; }
    void setCurrentPositionEstimate(float pos) { _position_estimate = pos; }

private:
    void resetPositionLock();
    void updateTrajectories(float dt);
    void updateTrajConstraints(float vel_target);
    void checkPositionLock(float velocity_target);
    void updateTrajDurations(float velocity_target);

    VelocitySmoothing _trajectory; ///< Trajectory in z direction

    bool _position_lock_active{false};

    float _position_setpoint_locked;

    float _velocity_setpoint_feedback;
    float _position_estimate;

    struct {
        float j;
        float a;
        float v;
        float x;
    } _state;

    float _max_accel_up{0.f};
    float _max_accel_down{0.f};
    float _max_vel_up{0.f};
    float _max_vel_down{0.f};
};