Result of tuning a single motor's firmware-side velocity PID. More...

#include <types.hpp>

Collaboration diagram for libstp::autotune::FirmwarePidResult:

Public Attributes
int	motor_port {-1}
PlantParams	plant {}
float	kp {0.0f}
float	ki {0.0f}
float	kd {0.0f}
double	baseline_ise {0.0}
double	tuned_ise {0.0}
bool	accepted {false}
std::string	pid_method {"chr"}
double	plant_K {0.0}
	PT1 plant gain from the DE fit (BEMF units per PWM). 0 if unused.
double	plant_T {0.0}
	PT1 plant time constant from the DE fit (s). 0 if unused.

Detailed Description

Result of tuning a single motor's firmware-side velocity PID.

Definition at line 290 of file types.hpp.

Member Data Documentation

◆ accepted

bool libstp::autotune::FirmwarePidResult::accepted {false}

Definition at line 299 of file types.hpp.

◆ baseline_ise

double libstp::autotune::FirmwarePidResult::baseline_ise {0.0}

Definition at line 297 of file types.hpp.

◆ kd

float libstp::autotune::FirmwarePidResult::kd {0.0f}

Definition at line 296 of file types.hpp.

◆ ki

float libstp::autotune::FirmwarePidResult::ki {0.0f}

Definition at line 295 of file types.hpp.

◆ kp

float libstp::autotune::FirmwarePidResult::kp {0.0f}

Definition at line 294 of file types.hpp.

◆ motor_port

int libstp::autotune::FirmwarePidResult::motor_port {-1}

Definition at line 292 of file types.hpp.

◆ pid_method

std::string libstp::autotune::FirmwarePidResult::pid_method {"chr"}

Gain-computation method: "control_theory_de", "chr_fallback", or "chr" (legacy default before any computation runs).

Definition at line 302 of file types.hpp.

◆ plant

PlantParams libstp::autotune::FirmwarePidResult::plant {}

Definition at line 293 of file types.hpp.

◆ plant_K

double libstp::autotune::FirmwarePidResult::plant_K {0.0}

PT1 plant gain from the DE fit (BEMF units per PWM). 0 if unused.

Definition at line 304 of file types.hpp.

◆ plant_T

double libstp::autotune::FirmwarePidResult::plant_T {0.0}

PT1 plant time constant from the DE fit (s). 0 if unused.

Definition at line 306 of file types.hpp.

◆ tuned_ise

double libstp::autotune::FirmwarePidResult::tuned_ise {0.0}

Definition at line 298 of file types.hpp.

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

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

Public Attributes