%三角形加速度曲线
if exist('ini') == 0
    disp ('未加载配置ini文件');
    return;
end
InitVars; %初始化变量

%计算过程的中间变量
Acc0 = 0;  %起步的加速度 hz/ms
dAcc = TriangleAccSlope(MinFreq, MaxFreq, (SpeedUpTime)/2);   %变加速度系数，hz/ms2
Freq = MinFreq; %最小步开始计算
Acc=Acc0;
t=0;
MidTime = SpeedUpTime/2 - StepTime/2;
%加速度增大阶段
while t <= MidTime %前半段时间，加速度递增
    Period = 1e3 / Freq;    %当前频率换算到周期
    Steps = round(StepTime * Freq / 1e3);   %一个时间段里的步数，取整
    Cnt = Cnt+1;    %计数
    A(Cnt,FREQ)=Freq;  
    A(Cnt,STEPS)=Steps;
    if Cnt == 1
        A(Cnt,STEP_SUM)=Steps;
        A(Cnt, T_SUM) = Period*Steps;
    else
        A(Cnt,STEP_SUM)=A(Cnt-1,STEP_SUM) + Steps;
        A(Cnt, T_SUM) = A(Cnt-1, T_SUM) + Period*Steps;
    end
    A(Cnt, ACC) = Acc;
    t = A(Cnt, T_SUM);
    Acc = Acc + dAcc * Period*Steps; %下一步的加速度
    Freq = Freq + (Period*Steps) * Acc; %next freq
    
end
%加速度减小阶段
while Acc > 0
    Period = 1e3 / Freq;    %当前频率换算到周期
    Steps = round(StepTime / Period);   %一个时间段里的步数，取整
    Cnt = Cnt+1;    %计数
    A(Cnt,FREQ)=Freq;  
    A(Cnt,STEPS)=Steps;
    A(Cnt,STEP_SUM)=A(Cnt-1,STEP_SUM) + Steps;
    A(Cnt, T_SUM) = A(Cnt-1, T_SUM) + Period*Steps;
    A(Cnt, ACC) = Acc;
    Acc = Acc - dAcc * Period*Steps; %下一步的加速度 
    Freq = Freq + (Period*Steps) * Acc; %next freq
end

%绘结果图
PlotResult;
SaveResult;