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profile.c++tmpl
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profile.c++tmpl
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inline int clampint(const int x,const int x0,const int x1) {{ return x<x0 ? x0 : (x>x1 ? x1 : x); }}
enum {{ N = {N}, M = {M} }};
typedef struct {{
float c0, c1, alpha;
int pN;
}} zone_t;
typedef float Marray_t[M];
static const Marray_t polynomialXCoefs[N] = {{
{Xcoefs}
}};
static const Marray_t polynomialDXCoefs[N] = {{
{DXcoefs}
}};
static const float {name}Dt = {Dt};
zone_t {name}TimeToZone(float t)
{{
enum {{ L={L}, K={K} }};
static const zone_t zones[L] = {{
{zones}
}};
static const int timeInx[K] = {{ {inxa} }};
return zones[ timeInx[ clampint(t/{name}Dt, 0, L-1) ] ];
}}
float calcPoly(const Marray_t *p, const zone_t z, float t)
{{
const float *c = p[ z.pN ];
float s = z.c0 + z.c1 * t ;
return z.alpha * {spoly};
}}
float {name}TimeToDisp(float t)
{{
return calcPoly( polynomialXCoefs, {name}TimeToZone(t), t );
}}
float {name}TimeToVel(float t)
{{
return calcPoly( polynomialDXCoefs, {name}TimeToZone(t), t );
}}
float xLast, tNow;
void {name}Reset()
{{
xLast = 0.0;
tNow = 0.0; /* could also be a tStart = getNow() function */
}}
void {name}TimerTick()
{{
float xNow;
static const float kMotor = {kMotor};
tNow += {name}Dt; /* could also be tNow = getNow() - tStart */
xNow = kMotor * {name}TimeToDisp(tNow) ;
motorOutput( (int)(xNow) & 1, (xNow-xLast < 0) );
xLast = xNow ;
}}