Hello everyone.
I decided to join the discussion. I'm currently trying to construct a trajectory with acceleration and deceleration, but I'm burnt out for today. Generally, I wanted to know what advantages this library offers. Let's say I'm trying to divide a segment into 7 parts. First, I divide it into 3 parts: acceleration, constant motion, and deceleration. Then I take the acceleration or deceleration segment and divide it into 3 parts: initial jerk, linear segment, and final jerk. Accordingly, with zero jerk, the time for this segment equals speed divided by acceleration. At 100% jerk, this time is twice as long, and consequently, I have no linear segment. With this logic, I'm trying to build the graphs. I will show part of the code for now. I can upload the entire project later. I have the following questions: How is the use of this library better than the approach I've described above? And the second point, what parameters can I set using this library, apart from speed, acceleration, and the magnitude of jerk? Is it possible to change the duration of the jerk? Can these values be set separately for the acceleration and deceleration phases?
Code:
MotionData SCurveTp::calculateMotion(double maxSpeed, double acceleration, double jerkTimePercentage) {
MotionData data;
double distance = 100.0; // Total driving distance
// Calculation of the total acceleration and deceleration time without taking into account jerk
double baseTimeAcceleration = maxSpeed / acceleration;
double jerkTime = baseTimeAcceleration * (jerkTimePercentage / 100.0);
// Total time for acceleration and deceleration phase including jerk
double totalTimeAcceleration = baseTimeAcceleration + 2 * jerkTime;
double totalTimeDeceleration = totalTimeAcceleration;
// Calculation of time and distance for the constant speed phase
double distanceAcceleration = 0.5 * acceleration * pow(totalTimeAcceleration - jerkTime, 2) + acceleration * jerkTime * (totalTimeAcceleration - 0.5 * jerkTime);
double distanceDeceleration = distanceAcceleration;
double distanceConstantSpeed = distance - (distanceAcceleration + distanceDeceleration);
double timeConstantSpeed = distanceConstantSpeed / maxSpeed;
// Total driving time
double totalTime = totalTimeAcceleration + timeConstantSpeed + totalTimeDeceleration;
double currentSpeed = 0.0, currentPosition = 0.0, currentAcceleration = 0.0, currentJerk = 0.0;
double timeStep = 0.01; // Time step
for (double t = 0; t <= totalTime; t += timeStep) {
// Determining the current phase of movement
if (t < jerkTime) {
currentJerk = acceleration / jerkTime;
currentAcceleration += currentJerk * timeStep;
} else if (t < totalTimeAcceleration - jerkTime) {
currentJerk = 0;
currentAcceleration = acceleration;
} else if (t < totalTimeAcceleration) {
currentJerk = -acceleration / jerkTime;
currentAcceleration += currentJerk * timeStep;
} else if (t < totalTimeAcceleration + timeConstantSpeed) {
currentJerk = 0;
currentAcceleration = 0;
currentSpeed = maxSpeed;
} else if (t < totalTime - totalTimeDeceleration + jerkTime) {
currentJerk = -acceleration / jerkTime;
currentAcceleration += currentJerk * timeStep;
} else if (t < totalTime - jerkTime) {
currentJerk = 0;
currentAcceleration = -acceleration;
} else {
currentJerk = acceleration / jerkTime;
currentAcceleration += currentJerk * timeStep;
}
// Calculate speed and position
currentSpeed += currentAcceleration * timeStep;
currentPosition += currentSpeed * timeStep;
// Speed and Position Limit
if (currentSpeed > maxSpeed) currentSpeed = maxSpeed;
if (currentSpeed < 0) currentSpeed = 0;
if (currentPosition > distance) currentPosition = distance;
// Adding data to lists
data.trajectory.append(QPointF(t, currentPosition));
data.velocity.append(QPointF(t, currentSpeed));
data.acceleration.append(QPointF(t, currentAcceleration));
data.jerk.append(QPointF(t, currentJerk));
}
double t=totalTime;
// If the total time is less than the maximum time, fill in the remaining time
while (t < 100.0) {
currentSpeed = (t >= totalTime) ? 0.0 : currentSpeed; // Speed 0 after end of movement
currentAcceleration = (t >= totalTime) ? 0.0 : currentAcceleration; // Acceleration 0 after end of movement
currentJerk = (t >= totalTime) ? 0.0 : currentJerk; // Jerk 0 after movement ends
data.trajectory.append(QPointF(t, currentPosition));
data.velocity.append(QPointF(t, currentSpeed));
data.acceleration.append(QPointF(t, currentAcceleration));
data.jerk.append(QPointF(t, currentJerk));
t += timeStep;
}
return data;
}
For now, I'll upload part of the code. I can upload the full project tomorrow. Maybe someone will be able to comment on it
