step_planner.h

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#pragma once
 
#include <cstdint>
 
namespace aiming
{
struct PlannerConfig {
    float max_speed = 400.0f; 
    float accel = 800.0f;     
    float min_speed = 20.0f;  
    int32_t min_pos = -512;   
    int32_t max_pos = 512;
    float tick_s = 0.001f;
};
 
class StepPlanner
{
public:
    explicit StepPlanner(const PlannerConfig& config = PlannerConfig{});
 
    void set_target(int32_t steps);       
    void set_velocity(float steps_per_s); 
    int tick();
 
    int32_t position() const { return position_; }
    int32_t target() const { return target_; }
    float speed() const { return speed_; }
    bool is_idle() const;
    void reset_position(int32_t steps = 0); 
    const PlannerConfig& config() const { return config_; }
 
private:
    enum class Mode : uint8_t { Target, Jog };
 
    float goal_speed();
 
    PlannerConfig config_;
    Mode mode_ = Mode::Target;
    int32_t position_ = 0;
    int32_t target_ = 0;
    float jog_speed_ = 0.0f;
    float speed_ = 0.0f;
    float frac_ = 0.0f;
};
} // namespace aiming