libstp::autotune::StaticFrictionConfig Struct Reference

Configuration for the StaticFrictionMeasurer. More...

#include <types.hpp>

Public Attributes
int	start_pct {2}
	Lower bound of the PWM sweep (inclusive).
int	max_pct {50}
	Upper bound of the PWM sweep (inclusive).
int	step_pct {1}
	PWM increment per sweep step.
int	dwell_ms {50}
	Dwell after each setSpeed() call (ms).
int	samples_per_step {5}
	BEMF samples taken per step (median).
int	motion_threshold {3}
	Median |BEMF| above this counts as "moving".

Detailed Description

Configuration for the StaticFrictionMeasurer.

Definition at line 316 of file types.hpp.

Member Data Documentation

dwell_ms

int libstp::autotune::StaticFrictionConfig::dwell_ms {50}

Dwell after each setSpeed() call (ms).

Definition at line 321 of file types.hpp.

max_pct

int libstp::autotune::StaticFrictionConfig::max_pct {50}

Upper bound of the PWM sweep (inclusive).

Definition at line 319 of file types.hpp.

motion_threshold

int libstp::autotune::StaticFrictionConfig::motion_threshold {3}

Median |BEMF| above this counts as "moving".

Definition at line 323 of file types.hpp.

samples_per_step

int libstp::autotune::StaticFrictionConfig::samples_per_step {5}

BEMF samples taken per step (median).

Definition at line 322 of file types.hpp.

start_pct

int libstp::autotune::StaticFrictionConfig::start_pct {2}

Lower bound of the PWM sweep (inclusive).

Definition at line 318 of file types.hpp.

step_pct

int libstp::autotune::StaticFrictionConfig::step_pct {1}

PWM increment per sweep step.

Definition at line 320 of file types.hpp.

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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