step_planner.h File Reference

Trapezoidal velocity planner for the pan stepper, ticked at 1 kHz (pure C++20, natively tested). More...

#include <cstdint>

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Classes
struct	aiming::PlannerConfig
class	aiming::StepPlanner

Detailed Description

Trapezoidal velocity planner for the pan stepper, ticked at 1 kHz (pure C++20, natively tested).

Target mode moves to an absolute step count: accelerate, cruise, brake so it stops exactly on the target (no overshoot); a new target mid-move is reached by braking first, never by an instant reversal. Jog mode follows a commanded velocity with the same acceleration limit. Both modes brake into the soft limits and never step past them. tick() returns the step to emit this tick (-1, 0, +1); at most one per tick (max 400 steps/s < 1 kHz). NOT thread-safe: the motor task owns it.