libstp::autotune::VelocityTuner Class Reference

Tunes per-axis velocity PID gains via step-response identification. More...

#include <velocity_tune.hpp>

Public Member Functions
	VelocityTuner (drive::Drive &drive, odometry::IOdometry &odometry)
VelocityTuneResult	tuneAxis (const std::string &axis, double max_velocity, const VelocityTuneConfig &cfg) const
	Tune a single velocity axis.
std::map< std::string, VelocityTuneResult >	tune (const std::vector< std::string > &axes, const std::map< std::string, double > &max_velocities, const VelocityTuneConfig &cfg) const
	Tune multiple axes in sequence.

Detailed Description

Tunes per-axis velocity PID gains via step-response identification.

For each axis (vx, vy, wz) VelocityTuner:

1. Records a baseline open-loop-equivalent step response with the existing gains and computes its ISE.
2. Fits a FOPDT plant model using the inflection-tangent method (with a rise-time fallback).
3. Derives CHR (Chien–Hrones–Reswick) PID gains from the model.
4. Applies the candidate gains, records a second step response, and accepts the new gains only if the tuned ISE is strictly lower than the baseline ISE. Otherwise the original gains are restored.

Note

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

Definition at line 30 of file velocity_tune.hpp.

Constructor & Destructor Documentation

VelocityTuner()

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

Parameters

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

Member Function Documentation

tune()

std::map< std::string, VelocityTuneResult > libstp::autotune::VelocityTuner::tune ( const std::vector< std::string > & axes, const std::map< std::string, double > & max_velocities, const VelocityTuneConfig & cfg ) const

nodiscard

Tune multiple axes in sequence.

Axes not present in max_velocities are skipped with a warning.

Parameters

axes	Axis names to tune (e.g. {"vx", "wz"}).
max_velocities	Map from axis name to max physical velocity.
cfg	Shared tuning configuration.

Returns

Map from axis name to VelocityTuneResult.

tuneAxis()

VelocityTuneResult libstp::autotune::VelocityTuner::tuneAxis ( const std::string & axis, double max_velocity, const VelocityTuneConfig & cfg ) const

nodiscard

Tune a single velocity axis.

Parameters

axis	One of "vx", "vy", or "wz".
max_velocity	Maximum physical velocity for this axis (m/s or rad/s); typically obtained from DriveCharacterizer.
cfg	Tuning configuration.

Returns

VelocityTuneResult with plant params, gains, ISE metrics, and whether the new gains were accepted.

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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/velocity_tune.hpp