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TQ Hirsch
2022-04-15 13:08:56 +02:00
parent b066e4ceaf
commit 7c1e8e2bad
2 changed files with 73 additions and 21 deletions
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firmware/docs/implementation-notes.adoc
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@@ -29,12 +29,12 @@ contain a complete motion profile plus a terminating "stop" segment.
A motion profile segment consists of the following values:
* For step computation
- For step computation
* Δx1..Δx3 (initial values)
* start time (in ticks)
* For use by the planner
* v₀, vₑ: Initial and terminal velocities
* a₀, aₑ: Initial and terminal acceleration
- For use by the planner
* v₀: Initial velocity
* a₀: Initial acceleration
* The actual position at the start time (written by executor)
The following invariants hold for the command queue: