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initial no_std support #4

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initial no_std support #4

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3a735b7
initial no_std support
enomado May 2, 2021
29fd475
fix fmt
Jun 19, 2021
9012110
use tests in no-std environment + fix formatting of examples
Jun 19, 2021
2c36dad
add documentation for new functions, rename feature from "no_std" to …
Jul 5, 2021
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14 changes: 12 additions & 2 deletions Cargo.toml
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Expand Up @@ -20,6 +20,16 @@ path = "src/lib.rs"
name = "plot"
path = "examples/plot.rs"

[dependencies]
[dependencies.num-traits]
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Do you really need this dependency? What is it doing?

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Its for mathematical operations on floats. no_std dont have it.

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AFAIK num_trait is for division/multiplication, and libm is for sqrt

# todo https://doc.rust-lang.org/cargo/reference/specifying-dependencies.html#platform-specific-dependencies
version = "*"
default-features = false
features = ["libm"]

[dev-dependencies]
gnuplot = "0.0.37"
gnuplot = "0.0.37"


[features]
default = []
no_std = []
5 changes: 3 additions & 2 deletions README.md
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Expand Up @@ -31,15 +31,16 @@ An S-Curve consists of 7 phases:
let constraints = SCurveConstraints {
max_jerk: 3.,
max_acceleration: 2.0,
max_velocity: 3.};
max_velocity: 3.
};
let start_conditions = SCurveStartConditions {
q0: 0., // start position
q1: 10., // end position
v0: 0., // start velocity
v1: 0. // end velocity
};
let input = SCurveInput{constraints, start_conditions};
let (params,s_curve) = s_curve_generator( & input,Derivative::Velocity);
let (params, s_curve) = s_curve_generator( &input,Derivative::Velocity);
for i in 0..101 {
println!("{}", s_curve(i as f64 * params.time_intervals.total_duration() / 100.));
}
Expand Down
26 changes: 17 additions & 9 deletions src/lib.rs
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Expand Up @@ -15,22 +15,28 @@
* let constraints = SCurveConstraints {
* max_jerk: 3.,
* max_acceleration: 2.0,
* max_velocity: 3.};
* max_velocity: 3.
* };
* let start_conditions = SCurveStartConditions {
* q0: 0., // start position
* q1: 10., // end position
* v0: 0., // start velocity
* v1: 0. // end velocity
* };
* let input = SCurveInput{constraints, start_conditions};
* let (params,s_curve) = s_curve_generator(&input,Derivative::Velocity);
* let (params, s_curve) = s_curve_generator(&input,Derivative::Velocity);
* for i in 0..101 {
* println!("{}", s_curve(i as f64 * params.time_intervals.total_duration() / 100.));
* }
* ```
*
*/

#![cfg_attr(feature = "no_std", no_std)]

#[cfg(feature = "no_std")]
use num_traits::float::Float;

/**
* Struct which contains the desired limits for jerk, acceleration and velocity in SI units.
* These are only the limits. It can happen that the acceleration or Velocity will be actually lower
Expand Down Expand Up @@ -333,7 +339,7 @@ impl SCurveInput {
}
}

fn eval_position(p: &SCurveParameters, t: f64) -> f64 {
pub fn eval_position(p: &SCurveParameters, t: f64) -> f64 {
let times = &p.time_intervals;
if t < 0. {
return p.conditions.q0;
Expand Down Expand Up @@ -370,7 +376,7 @@ fn eval_position(p: &SCurveParameters, t: f64) -> f64 {
}
}

fn eval_velocity(p: &SCurveParameters, t: f64) -> f64 {
pub fn eval_velocity(p: &SCurveParameters, t: f64) -> f64 {
let times = &p.time_intervals;
if t < 0. {
return p.conditions.v0;
Expand All @@ -394,7 +400,7 @@ fn eval_velocity(p: &SCurveParameters, t: f64) -> f64 {
}
}

fn eval_acceleration(p: &SCurveParameters, t: f64) -> f64 {
pub fn eval_acceleration(p: &SCurveParameters, t: f64) -> f64 {
let times = &p.time_intervals;
if t < 0. {
0.
Expand All @@ -417,7 +423,7 @@ fn eval_acceleration(p: &SCurveParameters, t: f64) -> f64 {
}
}

fn eval_jerk(p: &SCurveParameters, t: f64) -> f64 {
pub fn eval_jerk(p: &SCurveParameters, t: f64) -> f64 {
let times = &p.time_intervals;
if t < times.t_j1 {
p.j_max
Expand All @@ -439,6 +445,7 @@ fn eval_jerk(p: &SCurveParameters, t: f64) -> f64 {
/// returns the S-Curve parameters and a function which maps time [0,t] to Position, Velocity,
/// Acceleration or Jerk, depending on what you set as Derivative. Note that the acceleration
/// and velocity could be decreased if it is not possible to achieve them.
#[cfg(not(feature = "no_std"))]
pub fn s_curve_generator(
input_parameters: &SCurveInput,
derivative: Derivative,
Expand Down Expand Up @@ -466,9 +473,9 @@ pub fn s_curve_generator(

#[cfg(test)]
mod tests {
use crate::{
s_curve_generator, Derivative, SCurveConstraints, SCurveInput, SCurveStartConditions,
};
#[cfg(not(feature = "no_std"))]
use crate::{s_curve_generator, Derivative};
use crate::{SCurveConstraints, SCurveInput, SCurveStartConditions};

#[test]
fn timings_3_9() {
Expand Down Expand Up @@ -575,6 +582,7 @@ mod tests {
}

#[test]
#[cfg(not(feature = "no_std"))]
fn simple_curve() {
let constraints = SCurveConstraints {
max_jerk: 30.,
Expand Down