libstp::foundation::SpeedModeContext Class Reference

#include <speed_mode_context.hpp>

Public Member Functions
bool	isSpeedModeEnabled () const noexcept
	True when SpeedMode is active (BEMF disabled, no cm precision).
void	setSpeedModeEnabled (bool enabled) noexcept
void	assertBemfAvailable (const char *context) const
	SpeedModeContext (const SpeedModeContext &)=delete
SpeedModeContext &	operator= (const SpeedModeContext &)=delete
	SpeedModeContext (SpeedModeContext &&)=delete
SpeedModeContext &	operator= (SpeedModeContext &&)=delete

Static Public Member Functions
static SpeedModeContext &	instance ()
	Access the process-wide instance.

Detailed Description

Process-wide flag indicating whether SpeedMode is active.

SpeedMode disables the firmware-side BEMF closed-loop control: the STM32 stops sampling BEMF (gaining ~10% top speed) but in exchange gives up encoder-velocity feedback and therefore cm-accurate distance / angle termination. While SpeedMode is on the motion primitives must not be used with a distance- or angle-based goal; the program is expected to terminate motions via explicit until-conditions (sensors, timeouts, ...).

The flag lives in libstp-foundation so both the drive layer (MotorAdapter, which switches between BEMF-velocity and open-loop PWM) and the motion layer (which validates that motions with a positional goal are not started while SpeedMode is active) can query it without introducing a cross-module dependency.

Reads and writes use atomic operations so the Python step that flips SpeedMode (in response to an LCM ACK from the firmware) does not need to synchronize against the motion control loop with an extra mutex.

Definition at line 29 of file speed_mode_context.hpp.

Constructor & Destructor Documentation

SpeedModeContext() [1/2]

libstp::foundation::SpeedModeContext::SpeedModeContext ( const SpeedModeContext & )

delete

SpeedModeContext() [2/2]

libstp::foundation::SpeedModeContext::SpeedModeContext ( SpeedModeContext && )

delete

Member Function Documentation

assertBemfAvailable()

void libstp::foundation::SpeedModeContext::assertBemfAvailable

(

const char *

context

)

const

Throws std::logic_error if SpeedMode is currently active.

context is included in the error message so the user knows which call site triggered the failure.

instance()

SpeedModeContext & libstp::foundation::SpeedModeContext::instance ( )

static

Access the process-wide instance.

isSpeedModeEnabled()

bool libstp::foundation::SpeedModeContext::isSpeedModeEnabled ( ) const

nodiscardnoexcept

True when SpeedMode is active (BEMF disabled, no cm precision).

operator=() [1/2]

SpeedModeContext & libstp::foundation::SpeedModeContext::operator= ( const SpeedModeContext & )

delete

operator=() [2/2]

SpeedModeContext & libstp::foundation::SpeedModeContext::operator= ( SpeedModeContext && )

delete

setSpeedModeEnabled()

void libstp::foundation::SpeedModeContext::setSpeedModeEnabled ( bool enabled )

noexcept

Flip the SpeedMode flag. Intended to be called from the SetSpeedMode Python step after the firmware ACK arrived.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-foundation/include/foundation/speed_mode_context.hpp