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/*
* InputShaper.h
*
* Created on: 20 Feb 2021
* Author: David
*/
#ifndef SRC_MOVEMENT_INPUTSHAPER_H_
#define SRC_MOVEMENT_INPUTSHAPER_H_
#include <RepRapFirmware.h>
#include <GCodes/GCodeResult.h>
#include <General/NamedEnum.h>
#include <ObjectModel/ObjectModel.h>
NamedEnum(InputShaperType, uint8_t,
none,
ZVD,
ZVDD,
EI2,
DAA
);
class InputShaper INHERIT_OBJECT_MODEL
{
public:
InputShaper() noexcept;
uint16_t GetHalfPeriodClocks() const noexcept { return halfPeriod; } // return the half period in step clocks
float GetFullPeriod() const noexcept; // return the full period in seconds
float GetFrequency() const noexcept;
float GetFloatDamping() const noexcept;
float GetMinimumAcceleration() const noexcept { return minimumAcceleration; }
InputShaperType GetType() const noexcept { return type; }
GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException); // process M593
protected:
DECLARE_OBJECT_MODEL
private:
static constexpr float DefaultFrequency = 40.0;
static constexpr float DefaultDamping = 0.2;
static constexpr float DefaultMinimumAcceleration = 10.0;
uint16_t halfPeriod; // half the period of ringing that we don't want to excite, in step clocks
uint16_t damping; // damping factor of the ringing as a 16-bit fractional number
float minimumAcceleration; // the minimum value that we reduce acceleration to
InputShaperType type;
};
#endif /* SRC_MOVEMENT_INPUTSHAPER_H_ */
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