libstp::autotune::BemfVelocityTuner Class Reference

Calibrate per-motor ticks_to_rad (BEMF→rad) against the external calibration board, fully automatically. More...

#include <bemf_velocity_tune.hpp>

Public Member Functions
	BemfVelocityTuner (drive::Drive &drive, odometry::IOdometry &odometry)
BemfVelocityResult	tune (const BemfVelocityConfig &cfg) const

Detailed Description

Calibrate per-motor ticks_to_rad (BEMF→rad) against the external calibration board, fully automatically.

Note

Requires the calibration-board odometry to back IOdometry::getPose() (i.e. getActiveSource() == OdometrySource::CalibrationBoard). Callers are expected to request that source explicitly; internal odometry is otherwise the default.

Definition at line 131 of file bemf_velocity_tune.hpp.

Constructor & Destructor Documentation

BemfVelocityTuner()

libstp::autotune::BemfVelocityTuner::BemfVelocityTuner	(	drive::Drive &	drive,
		odometry::IOdometry &	odometry )

Member Function Documentation

tune()

BemfVelocityResult libstp::autotune::BemfVelocityTuner::tune ( const BemfVelocityConfig & cfg ) const

nodiscard

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The documentation for this class was generated from the following file:

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-autotune/include/autotune/bemf_velocity_tune.hpp