Aggregated configuration for the full auto-tune pipeline. More...

#include <auto_tuner.hpp>

Collaboration diagram for libstp::autotune::AutoTuneConfig:

Public Attributes
bool	tune_vel_lpf {true}
bool	tune_static_friction {true}
bool	tune_firmware_pid {false}
bool	tune_encoder_cal {true}
bool	tune_characterize {true}
bool	tune_velocity {true}
bool	tune_motion {true}
bool	tune_tolerances {true}
VelLpfConfig	vel_lpf_cfg {}
StaticFrictionConfig	static_friction_cfg {}
FirmwarePidConfig	firmware_pid_cfg {}
EncoderCalConfig	encoder_cal_cfg {}
CharacterizeConfig	characterize_cfg {}
VelocityTuneConfig	velocity_cfg {}
MotionTuneConfig	motion_cfg {}
ToleranceConfig	tolerance_cfg {}
std::vector< std::string >	characterize_axes
std::vector< std::string >	velocity_axes
std::vector< std::string >	motion_params
std::map< std::string, double >	max_velocities
std::optional< std::map< int, int > >	max_bemf_speeds {}

Detailed Description

Aggregated configuration for the full auto-tune pipeline.

Each tune_* flag toggles a phase on or off. The phases run in dependency order: vel_lpf → static_friction → encoder_cal → optional firmware_pid → characterize → velocity → motion → tolerances. (encoder_cal/ticks_to_rad runs before firmware_pid because the firmware velocity-PID setpoints are derived through ticks_to_rad.)

Definition at line 26 of file auto_tuner.hpp.

Member Data Documentation

◆ characterize_axes

std::vector<std::string> libstp::autotune::AutoTuneConfig::characterize_axes

Definition at line 49 of file auto_tuner.hpp.

◆ characterize_cfg

CharacterizeConfig libstp::autotune::AutoTuneConfig::characterize_cfg {}

Definition at line 43 of file auto_tuner.hpp.

◆ encoder_cal_cfg

EncoderCalConfig libstp::autotune::AutoTuneConfig::encoder_cal_cfg {}

Definition at line 42 of file auto_tuner.hpp.

◆ firmware_pid_cfg

FirmwarePidConfig libstp::autotune::AutoTuneConfig::firmware_pid_cfg {}

Definition at line 41 of file auto_tuner.hpp.

◆ max_bemf_speeds

std::optional<std::map<int, int> > libstp::autotune::AutoTuneConfig::max_bemf_speeds {}

Definition at line 60 of file auto_tuner.hpp.

◆ max_velocities

std::map<std::string, double> libstp::autotune::AutoTuneConfig::max_velocities

Definition at line 56 of file auto_tuner.hpp.

◆ motion_cfg

MotionTuneConfig libstp::autotune::AutoTuneConfig::motion_cfg {}

Definition at line 45 of file auto_tuner.hpp.

◆ motion_params

std::vector<std::string> libstp::autotune::AutoTuneConfig::motion_params

Definition at line 51 of file auto_tuner.hpp.

◆ static_friction_cfg

StaticFrictionConfig libstp::autotune::AutoTuneConfig::static_friction_cfg {}

Definition at line 40 of file auto_tuner.hpp.

◆ tolerance_cfg

ToleranceConfig libstp::autotune::AutoTuneConfig::tolerance_cfg {}

Definition at line 46 of file auto_tuner.hpp.

◆ tune_characterize

bool libstp::autotune::AutoTuneConfig::tune_characterize {true}

Definition at line 33 of file auto_tuner.hpp.

◆ tune_encoder_cal

bool libstp::autotune::AutoTuneConfig::tune_encoder_cal {true}

Definition at line 32 of file auto_tuner.hpp.

◆ tune_firmware_pid

bool libstp::autotune::AutoTuneConfig::tune_firmware_pid {false}

Definition at line 31 of file auto_tuner.hpp.

◆ tune_motion

bool libstp::autotune::AutoTuneConfig::tune_motion {true}

Definition at line 35 of file auto_tuner.hpp.

◆ tune_static_friction

bool libstp::autotune::AutoTuneConfig::tune_static_friction {true}

Definition at line 30 of file auto_tuner.hpp.

◆ tune_tolerances

bool libstp::autotune::AutoTuneConfig::tune_tolerances {true}

Definition at line 36 of file auto_tuner.hpp.

◆ tune_vel_lpf

bool libstp::autotune::AutoTuneConfig::tune_vel_lpf {true}

Definition at line 29 of file auto_tuner.hpp.

◆ tune_velocity

bool libstp::autotune::AutoTuneConfig::tune_velocity {true}

Definition at line 34 of file auto_tuner.hpp.

◆ vel_lpf_cfg

VelLpfConfig libstp::autotune::AutoTuneConfig::vel_lpf_cfg {}

Definition at line 39 of file auto_tuner.hpp.

◆ velocity_axes

std::vector<std::string> libstp::autotune::AutoTuneConfig::velocity_axes

Definition at line 50 of file auto_tuner.hpp.

◆ velocity_cfg

VelocityTuneConfig libstp::autotune::AutoTuneConfig::velocity_cfg {}

Definition at line 44 of file auto_tuner.hpp.

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

/home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-autotune/include/autotune/auto_tuner.hpp

Public Attributes