libstp::autotune::DriveCharacterizer Class Reference

Characterizes a robot's physical drive limits at raw motor power. More...

#include <characterize_drive.hpp>

Public Member Functions
	DriveCharacterizer (drive::Drive &drive, odometry::IOdometry &odometry)
AxisResult	characterizeAxis (const std::string &axis, const CharacterizeConfig &cfg) const
	Characterize a single axis.
std::map< std::string, AxisResult >	characterize (const std::vector< std::string > &axes, const CharacterizeConfig &cfg) const
	Characterize multiple axes in sequence.

Detailed Description

Characterizes a robot's physical drive limits at raw motor power.

Bypasses all velocity control (library PID and firmware BEMF PID) by commanding raw PWM via Drive::applyPowerCommand(). For each axis the characterizer runs multiple accel + decel trials and takes the median of each metric across trials.

Sampling is performed at up to 500 Hz in a tight C++ sleep loop, which allows significantly higher resolution than the Python asyncio-based implementation (formerly ~100 Hz).

Note

DriveCharacterizer holds non-owning references to Drive and IOdometry. The caller must ensure both objects outlive the DriveCharacterizer instance.

Definition at line 29 of file characterize_drive.hpp.

Constructor & Destructor Documentation

DriveCharacterizer()

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

Parameters

drive	Chassis drive controller (reference, not owned).
odometry	Odometry source (reference, not owned).

Member Function Documentation

characterize()

std::map< std::string, AxisResult > libstp::autotune::DriveCharacterizer::characterize ( const std::vector< std::string > & axes, const CharacterizeConfig & cfg ) const

nodiscard

Characterize multiple axes in sequence.

Parameters

axes	Axis names to measure (e.g. {"forward", "angular"}).
cfg	Measurement configuration shared across all axes.

Returns

Map from axis name to AxisResult.

characterizeAxis()

AxisResult libstp::autotune::DriveCharacterizer::characterizeAxis ( const std::string & axis, const CharacterizeConfig & cfg ) const

nodiscard

Characterize a single axis.

Parameters

axis	One of "forward", "lateral", or "angular".
cfg	Measurement configuration.

Returns

AxisResult with median max_velocity, acceleration, and deceleration. Fields remain 0.0 if all trials fail.

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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/characterize_drive.hpp