One measurement window at a single PWM level. More...

#include <bemf_velocity_tune.hpp>

Public Attributes
int	pwm_percent {0}
double	ground_truth_distance_m {0.0}
	calibration-board displacement
double	window_time_s {0.0}
double	body_speed_mps {0.0}
	distance / time (≈ steady state)
double	wheel_omega_rad_s {0.0}
	body_speed / wheel_radius
std::array< double, 4 >	delta_ticks {}
	accumulated BEMF ticks per motor
std::array< double, 4 >	median_bemf {}
	median \|instantaneous BEMF\| per motor
std::array< double, 4 >	ticks_to_rad {}
	(D/r)/\|Δticks\| per motor
bool	valid {false}

Detailed Description

One measurement window at a single PWM level.

Definition at line 76 of file bemf_velocity_tune.hpp.

Member Data Documentation

◆ body_speed_mps

double libstp::autotune::BemfVelocityPoint::body_speed_mps {0.0}

distance / time (≈ steady state)

Definition at line 81 of file bemf_velocity_tune.hpp.

◆ delta_ticks

std::array<double, 4> libstp::autotune::BemfVelocityPoint::delta_ticks {}

accumulated BEMF ticks per motor

Definition at line 83 of file bemf_velocity_tune.hpp.

◆ ground_truth_distance_m

double libstp::autotune::BemfVelocityPoint::ground_truth_distance_m {0.0}

calibration-board displacement

Definition at line 79 of file bemf_velocity_tune.hpp.

◆ median_bemf

std::array<double, 4> libstp::autotune::BemfVelocityPoint::median_bemf {}

median |instantaneous BEMF| per motor

Definition at line 84 of file bemf_velocity_tune.hpp.

◆ pwm_percent

int libstp::autotune::BemfVelocityPoint::pwm_percent {0}

Definition at line 78 of file bemf_velocity_tune.hpp.

◆ ticks_to_rad

std::array<double, 4> libstp::autotune::BemfVelocityPoint::ticks_to_rad {}

(D/r)/|Δticks| per motor

Definition at line 85 of file bemf_velocity_tune.hpp.

◆ valid

bool libstp::autotune::BemfVelocityPoint::valid {false}

Definition at line 86 of file bemf_velocity_tune.hpp.

◆ wheel_omega_rad_s

double libstp::autotune::BemfVelocityPoint::wheel_omega_rad_s {0.0}

body_speed / wheel_radius

Definition at line 82 of file bemf_velocity_tune.hpp.

◆ window_time_s

double libstp::autotune::BemfVelocityPoint::window_time_s {0.0}

Definition at line 80 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