libstp::autotune::EncoderCalibrator Class Reference

Calibrate per-motor ticks_to_rad using the IMU heading as ground truth. More...

#include <encoder_calibrator.hpp>

Public Member Functions
	EncoderCalibrator (drive::Drive &drive, odometry::IOdometry &odometry)
EncoderCalResult	calibrate (const EncoderCalConfig &cfg) const

Detailed Description

Calibrate per-motor ticks_to_rad using the IMU heading as ground truth.

The calibrator commands a slow in-place rotation, accumulates the IMU heading change vs. the odometry-integrated heading change, and rescales MotorCalibration::ticks_to_rad by imu_angle / odom_angle for every motor.

Because the same scale factor is applied to all motors, this only fixes the systematic component of the ticks_to_rad assumption (e.g. wrong gear-ratio constant). Individual per-motor variation requires a richer kinematics model and is out of scope here.

Note

The caller is responsible for re-publishing the kinematics config to the STM32 (TransportWriter::sendKinematicsConfig) after a successful calibration — the calibrator only mutates the in-process MotorCalibration instances.

Definition at line 28 of file encoder_calibrator.hpp.

Constructor & Destructor Documentation

EncoderCalibrator()

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

Member Function Documentation

calibrate()

EncoderCalResult libstp::autotune::EncoderCalibrator::calibrate ( const EncoderCalConfig & 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/encoder_calibrator.hpp