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  1. #include <stdio.h>
  2. #include <math.h>
  3. #include <stdlib.h>
  4.  
  5. #define M_PI 3.1415
  6. #define uint32_t int
  7. #define int32_t int
  8.   #define KROK	0.1//mm
  9.   #define STEPS_PER_MM (1 / KROK)  // 10 kroków na 1 mm
  10.   //const uint32_t Lmax = 2; //mm
  11.   const float Lmax = 65;//42; //mm
  12.   uint32_t T = 500;//330; //ms
  13.   // Tablica przechowująca pozycje (w mm) dla każdej milisekundy
  14.   float positions[1000+1];  // 0-1000 ms
  15.   uint32_t steps[1000+1];  // 0-1000 ms
  16.   int32_t stepsToMove[1000+1];  // 0-1000 ms
  17.   int32_t stepsToMoveLimit[1000+1];  // 0-1000 ms
  18.   int32_t stepsToMovePamiec = 0;
  19.   const uint32_t maxStepsPerMs = 4;//1000 / MIN_ODSTEP_MIEDZY_KOLEJNYMI_IMPULSAMI_US;
  20.   uint32_t currentPosition = 0;
  21.   uint32_t targetPosition = 0;
  22.   int32_t delta = 0;
  23.   //uint32_t stepsToMove = 0;
  24. //  for(int k=0; k<20; k++){
  25.   // Inicjalizacja tablicy przechowującej pozycje (w mm) dla każdej milisekundy
  26.   int t, L;
  27. int main(void)
  28. {  
  29.  
  30.  
  31.  
  32.   //for (t = 0; t <= T; t+10) {
  33.   	t = 500;
  34.  
  35.  
  36.   for (L = 0; L <= Lmax; L++) {	
  37.     positions[t] = (L / 2) * (sin((2.0 * t / T) * M_PI - M_PI/2) + 1);
  38.     steps[t] = roundf(positions[t] * STEPS_PER_MM);
  39.     targetPosition = steps[t];
  40.     delta = targetPosition - currentPosition;
  41.  
  42.  
  43.  
  44.    if( abs(delta) > maxStepsPerMs)
  45.    {
  46.    	printf("Za dużo: %d \n", L);
  47.    	break;
  48. 	   if( delta > 0)
  49. 		{
  50. 		   stepsToMove[t] = maxStepsPerMs;
  51. 		}
  52. 	   else
  53. 	   {
  54. 		   stepsToMove[t] = -1 * maxStepsPerMs;
  55. 	   }
  56. 	}
  57.    else
  58.    {
  59. 	   stepsToMove[t] = delta;
  60.    }
  61.  
  62.    stepsToMoveLimit[t] = stepsToMove[t] + stepsToMovePamiec;
  63.    stepsToMovePamiec = stepsToMoveLimit[t];
  64.    currentPosition = stepsToMoveLimit[t];//targetPosition;
  65.  
  66.   }
  67.  
  68.   if (L > Lmax) printf("OK %d", L);
  69.  
  70.  
  71.  
  72. }
Success #stdin #stdout 0.01s 5320KB
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OK 66
https://ideone.com/nGagqc
language:
C (gcc 8.3)
created:
1 day ago
visibility:
public

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