86 lines
2.6 KiB
C++
86 lines
2.6 KiB
C++
#include <cstdio>
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#ifndef __WIN32__
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#include <sysexits.h>
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#else
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#define EX_OK 0
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#define EX_USAGE 64
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#define EX_OSERR 71
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#endif
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#include "motion.h"
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using namespace modules::motion;
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int main(int argc, const char *argv[]) {
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if (argc != 2 || !argv[1]) {
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fprintf(stderr, "Usage: %s <output>\n", argv[0]);
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return EX_USAGE;
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}
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// "parse" arguments
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const char *output = argv[1];
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FILE *fd = fopen(output, "w");
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if (!fd) {
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fprintf(stderr, "%s: can't open output file %s: ", argv[0], output);
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perror(NULL);
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return EX_OSERR;
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}
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// common settings
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const Axis ax_a = Idler;
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const int steps_a = 100;
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const Axis ax_b = Selector;
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const int steps_b = 80;
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const int maxFeedRate = 1000;
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const int maxJerk = 1;
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// write common parameters
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fprintf(fd, "{\"timebase\": %lu}\n", F_CPU / config::stepTimerFrequencyDivider);
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for (int ax_cnt = 0; ax_cnt != 2; ++ax_cnt) {
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for (int accel = 2000; accel <= 50000; accel *= 2) {
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// first axis defines the nominal values
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motion.SetJerk(ax_a, maxJerk);
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motion.SetPosition(ax_a, 0);
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motion.SetAcceleration(ax_a, accel);
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motion.PlanMoveTo(ax_a, steps_a, maxFeedRate);
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fprintf(fd, "[{\"steps\": %d, \"jerk\": %d, \"accel\": %d, \"maxrate\": %d}",
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steps_a, maxJerk, accel, maxFeedRate);
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if (ax_cnt > 0) {
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// second axis finishes slightly sooner at triple acceleration to maximize the
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// aliasing effects
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int accel_3 = accel * 3;
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motion.SetJerk(ax_b, 1);
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motion.SetPosition(ax_b, 0);
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motion.SetAcceleration(ax_b, accel_3);
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motion.PlanMoveTo(ax_b, steps_b, maxFeedRate);
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fprintf(fd, ", {\"steps\": %d, \"jerk\": %d, \"accel\": %d, \"maxrate\": %d}",
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steps_b, maxJerk, accel_3, maxFeedRate);
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}
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fprintf(fd, "]\n");
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// initial state
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unsigned long ts = 0;
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st_timer_t next = 0;
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fprintf(fd, "%lu %u %d %d\n", ts, next, motion.CurPosition(ax_a), motion.CurPosition(ax_b));
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// step and output time, interval and positions
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do {
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next = motion.Step();
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pos_t pos_idler = motion.CurPosition(ax_a);
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pos_t pos_selector = motion.CurPosition(ax_b);
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fprintf(fd, "%lu %u %d %d\n", ts, next, pos_idler, pos_selector);
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ts += next;
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} while (next);
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fprintf(fd, "\n");
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}
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}
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return EX_OK;
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}
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