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  1. #include <stdio.h>
  2. #include <math.h>
  3.  
  4. #define M_PI 3.1415
  5. #define uint32_t	int
  6. #define int32_t	int
  7. #define KROK	0.1//mm
  8. #define STEPS_PER_MM	(1 / KROK)  // 10 kroków na 1 mm
  9. #define MAX_STEPS_PER_MS  4 
  10.  
  11. uint32_t CheckMaxWysuwLen(uint32_t L, uint32_t T);
  12.  
  13. uint32_t L = 66;//mm
  14. uint32_t T = 500;//ms
  15.  
  16. uint32_t tim = 0;
  17.  
  18. int main(void) {
  19.  
  20. 	tim = CheckMaxWysuwLen(L, T);
  21.  
  22. 	//printf("%d \n", tim);
  23. 	if (tim > T) printf("OK %d \n", tim);
  24. 	else printf("Za duży wysuw %d \n", tim);
  25.  
  26. 	return 0;
  27. }
  28.  
  29. uint32_t CheckMaxWysuwLen(uint32_t L, uint32_t T)
  30. {
  31. 	float position;
  32. 	uint32_t steps;
  33. 	uint32_t currentPosition = 0;
  34. 	uint32_t targetPosition;
  35. 	int32_t delta;
  36. 	int t;
  37.  
  38. 	for (t = 0; t <= T; t++) 
  39. 	{
  40. 	    position = (L / 2) * (sin((2.0 * t / T) * M_PI - M_PI/2) + 1);
  41. 	    steps = roundf(position * STEPS_PER_MM);
  42. 	    targetPosition = steps;
  43. 	    delta = targetPosition - currentPosition;
  44. 	    //printf("delta=%d t=%d \n", delta, t);
  45. 	    if( abs(delta) > MAX_STEPS_PER_MS)
  46. 	    {
  47. 	    	break;
  48. 	    }
  49. 	    currentPosition = targetPosition;
  50. 	}
  51. 	return t;
  52. }
  53.  
Success #stdin #stdout 0s 5320KB
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Za duży wysuw 114
https://ideone.com/i6ouq7
language:
C (gcc 8.3)
created:
7 hours ago
visibility:
public

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