Today, each type of motion is a function declared in motion.h, such as motion_forward() and motion_corner(). Though motions do use common elements such as a linear trapezoidal motion profile calculator, sensors, and motors, there is still a lot of repeated code. Moreover, the code is hard to understand to the point that further development is difficult.
The first thing we need is a design discussion.
Today, each type of motion is a function declared in
motion.h, such asmotion_forward()andmotion_corner(). Though motions do use common elements such as a linear trapezoidal motion profile calculator, sensors, and motors, there is still a lot of repeated code. Moreover, the code is hard to understand to the point that further development is difficult.The first thing we need is a design discussion.