Per-motor static-friction (kS) measurement. More...

#include <static_friction.hpp>

Public Member Functions
	StaticFrictionMeasurer (const std::vector< hal::motor::IMotor * > &motors)
StaticFrictionResult	measureMotor (hal::motor::IMotor *motor, const StaticFrictionConfig &cfg) const
	Measure a single motor.
std::map< int, StaticFrictionResult >	measure (const StaticFrictionConfig &cfg) const
	Measure every motor passed at construction.

Detailed Description

Per-motor static-friction (kS) measurement.

Sweeps the PWM duty from start_pct upward until the measured BEMF median crosses a "moving" threshold; repeats in reverse. The minimum percentage at which the motor starts spinning is the static-friction compensation value used by feedforward controllers.

Definition at line 19 of file static_friction.hpp.

Constructor & Destructor Documentation

◆ StaticFrictionMeasurer()

libstp::autotune::StaticFrictionMeasurer::StaticFrictionMeasurer ( const std::vector< hal::motor::IMotor * > & motors )

explicit

Member Function Documentation

◆ measure()

std::map< int, StaticFrictionResult > libstp::autotune::StaticFrictionMeasurer::measure ( const StaticFrictionConfig & cfg ) const

nodiscard

Measure every motor passed at construction.

Returns: Map from motor port to measurement result.

◆ measureMotor()

StaticFrictionResult libstp::autotune::StaticFrictionMeasurer::measureMotor	(	hal::motor::IMotor *	motor,
		const StaticFrictionConfig &	cfg ) const