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Fix missing config object for trap_traj

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2018-09-03 17:16:09 -04:00
parent c65e7265e7
commit c014dae5bb
1 changed files with 7 additions and 9 deletions
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Firmware/MotorControl/trapTraj.hpp
+7 -9
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@@ -1,7 +1,6 @@
#ifndef _TRAP_TRAJ_H
#define _TRAP_TRAJ_H
struct TrapTrajConfig_t {
float vel_limit = 20000.0f;
float accel_limit = 5000.0f;
@@ -16,7 +15,7 @@ struct TrapTrajStep_t {
class TrapezoidalTrajectory {
public:
Axis* axis_ = nullptr; // set by Axis constructor
Axis *axis_ = nullptr; // set by Axis constructor
TrapTrajConfig_t &config_;
TrapezoidalTrajectory(TrapTrajConfig_t &config);
@@ -27,16 +26,15 @@ class TrapezoidalTrajectory {
TrapTrajStep_t evalTrapTraj(float t);
auto make_protocol_definitions(){
return make_protocol_member_list(
make_protocol_property("vel_limit", &config_.vel_limit),
make_protocol_property("accel_limit", &config_.accel_limit),
make_protocol_property("decel_limit", &config_.decel_limit)
);
auto make_protocol_definitions() {
return make_protocol_member_list(
make_protocol_object("config",
make_protocol_property("vel_limit", &config_.vel_limit),
make_protocol_property("accel_limit", &config_.accel_limit),
make_protocol_property("decel_limit", &config_.decel_limit)));
}
private:
float yAccel_;
float Xi_;