Per-motor fit + linearity diagnostics across the speed sweep. More...

#include <bemf_velocity_tune.hpp>

Public Attributes
int	port {-1}
int	n_points {0}
double	ticks_to_rad_median {0.0}
	value chosen for persistence
double	ticks_to_rad_mean {0.0}
double	ticks_to_rad_cv {0.0}
double	bemf_omega_slope {0.0}
double	bemf_omega_intercept {0.0}
double	bemf_omega_r2 {0.0}
double	bemf_offset {0.0}
bool	linear {false}
	cv low AND r² high AND \|intercept\| small

Detailed Description

Per-motor fit + linearity diagnostics across the speed sweep.

Definition at line 90 of file bemf_velocity_tune.hpp.

Member Data Documentation

◆ bemf_offset

double libstp::autotune::BemfMotorFit::bemf_offset {0.0}

BEMF reading (ADC counts) where the driving line hits ω=0 (= -intercept/slope). This is the per-motor offset to subtract on the STM32 so the tick integral becomes speed-independent.

Definition at line 105 of file bemf_velocity_tune.hpp.

◆ bemf_omega_intercept

double libstp::autotune::BemfMotorFit::bemf_omega_intercept {0.0}

Definition at line 100 of file bemf_velocity_tune.hpp.

◆ bemf_omega_r2

double libstp::autotune::BemfMotorFit::bemf_omega_r2 {0.0}

Definition at line 101 of file bemf_velocity_tune.hpp.

◆ bemf_omega_slope

double libstp::autotune::BemfMotorFit::bemf_omega_slope {0.0}

Definition at line 99 of file bemf_velocity_tune.hpp.

◆ linear

bool libstp::autotune::BemfMotorFit::linear {false}

cv low AND r² high AND |intercept| small

Definition at line 106 of file bemf_velocity_tune.hpp.

◆ n_points

int libstp::autotune::BemfMotorFit::n_points {0}

Definition at line 93 of file bemf_velocity_tune.hpp.

◆ port

int libstp::autotune::BemfMotorFit::port {-1}

Definition at line 92 of file bemf_velocity_tune.hpp.

◆ ticks_to_rad_cv

double libstp::autotune::BemfMotorFit::ticks_to_rad_cv {0.0}

coeff. of variation across speeds (small => tick↔angle is linear)

Definition at line 96 of file bemf_velocity_tune.hpp.

◆ ticks_to_rad_mean

double libstp::autotune::BemfMotorFit::ticks_to_rad_mean {0.0}

Definition at line 95 of file bemf_velocity_tune.hpp.

◆ ticks_to_rad_median

double libstp::autotune::BemfMotorFit::ticks_to_rad_median {0.0}

value chosen for persistence

Definition at line 94 of file bemf_velocity_tune.hpp.

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

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

Public Attributes