This one, depending on the scope of simulation we want, will be trickier. Luckily we're given the equations for the S-Curve's in the documentation for the actual MCUs, but even still, this will be difficult to develop and maybe test.
This will likely have to work very closely with the encoder simulators, if the scope of simulation is detailed enough to implement our own version of a PI(D) control loop. If we assume 0 position error along the S-Curve, then the encoders position will equal the position at time t, and the encoder values can be extrapolated. (But then again, is that a very good simulation if we assume exact correctness? That's what I mean by scope of this simulation.)
This one, depending on the scope of simulation we want, will be trickier. Luckily we're given the equations for the S-Curve's in the documentation for the actual MCUs, but even still, this will be difficult to develop and maybe test.
This will likely have to work very closely with the encoder simulators, if the scope of simulation is detailed enough to implement our own version of a PI(D) control loop. If we assume 0 position error along the S-Curve, then the encoders position will equal the position at time t, and the encoder values can be extrapolated. (But then again, is that a very good simulation if we assume exact correctness? That's what I mean by scope of this simulation.)