slew.hpp

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/*
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this
file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
 
#pragma once
 
#include "LightLib/api.h"
#include "LightLib/util/util.hpp"
 
namespace light {
class slew {
 public:
  slew();
 
  struct Constants {
    double min_speed = 0;          
    double distance_to_travel = 0; 
  };
  Constants constants; 
 
  slew(double distance, int minimum_speed);
 
  void constants_set(double distance, int minimum_speed);
 
  Constants constants_get();
 
  void initialize(bool enabled, double maximum_speed, double target, double current);
 
  double iterate(double current);
 
  bool enabled();
 
  double output();
 
  void speed_max_set(double speed);
 
  double speed_max_get();
 
 private:
  int sign = 0;
  double error = 0;
  double x_intercept = 0;
  double y_intercept = 0;
  double slope = 0;
  double last_output = 0;
  bool is_enabled = false;
  double max_speed = 0;
};
};  // namespace light