写一个c语言的梯形速度规划代码

好的，我可以回答这个问题。以下是一个简单的梯形速度规划代码示例：

#include <stdio.h>
#include <math.h>

#define MAX_SPEED 100. // 最大速度
#define ACCELERATION 10. // 加速度
#define DECELERATION 10. // 减速度

int main() {
    double distance = 100.; // 距离
    double current_speed = .; // 当前速度
    double time = .; // 时间
    double acceleration_time = MAX_SPEED / ACCELERATION; // 加速时间
    double deceleration_time = MAX_SPEED / DECELERATION; // 减速时间
    double acceleration_distance = .5 * ACCELERATION * pow(acceleration_time, 2); // 加速距离
    double deceleration_distance = .5 * DECELERATION * pow(deceleration_time, 2); // 减速距离
    double constant_speed_distance = distance - acceleration_distance - deceleration_distance; // 匀速距离
    double constant_speed_time = constant_speed_distance / MAX_SPEED; // 匀速时间

    while (time < acceleration_time) {
        current_speed += ACCELERATION * .01;
        if (current_speed > MAX_SPEED) {
            current_speed = MAX_SPEED;
        }
        printf("time: %.2f, speed: %.2f\n", time, current_speed);
        time += .01;
    }

    while (time < acceleration_time + constant_speed_time) {
        printf("time: %.2f, speed: %.2f\n", time, MAX_SPEED);
        time += .01;
    }

    while (time < acceleration_time + constant_speed_time + deceleration_time) {
        current_speed -= DECELERATION * .01;
        if (current_speed < .) {
            current_speed = .;
        }
        printf("time: %.2f, speed: %.2f\n", time, current_speed);
        time += .01;
    }

    return ;
}

这个代码实现了一个简单的梯形速度规划，根据给定的距离、最大速度、加速度和减速度，计算出加速、匀速和减速三个阶段的时间和速度，并输出每个时间点的速度。