libstp::autotune::StaticFrictionResult Struct Reference

Per-motor static-friction measurement result (kS in PWM percent). More...

#include <types.hpp>

Public Attributes
int	motor_port {-1}
int	ks_positive_pct {0}
int	ks_negative_pct {0}
int	ks_avg_pct {0}
bool	measured {false}
std::vector< StaticFrictionSample >	forward_sweep {}
	Forward sweep PWM-vs-BEMF curve (pwm_pct > 0), in sweep order.
std::vector< StaticFrictionSample >	reverse_sweep {}
	Reverse sweep PWM-vs-BEMF curve (pwm_pct < 0), in sweep order.
int	motion_threshold {0}
	Motion threshold used (median |BEMF| above this counts as "moving").

Detailed Description

Per-motor static-friction measurement result (kS in PWM percent).

Definition at line 338 of file types.hpp.

Member Data Documentation

forward_sweep

std::vector<StaticFrictionSample> libstp::autotune::StaticFrictionResult::forward_sweep {}

Forward sweep PWM-vs-BEMF curve (pwm_pct > 0), in sweep order.

Definition at line 346 of file types.hpp.

ks_avg_pct

int libstp::autotune::StaticFrictionResult::ks_avg_pct {0}

Definition at line 343 of file types.hpp.

ks_negative_pct

int libstp::autotune::StaticFrictionResult::ks_negative_pct {0}

Definition at line 342 of file types.hpp.

ks_positive_pct

int libstp::autotune::StaticFrictionResult::ks_positive_pct {0}

Definition at line 341 of file types.hpp.

measured

bool libstp::autotune::StaticFrictionResult::measured {false}

Definition at line 344 of file types.hpp.

motion_threshold

int libstp::autotune::StaticFrictionResult::motion_threshold {0}

Motion threshold used (median |BEMF| above this counts as "moving").

Definition at line 350 of file types.hpp.

motor_port

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

Definition at line 340 of file types.hpp.

reverse_sweep

std::vector<StaticFrictionSample> libstp::autotune::StaticFrictionResult::reverse_sweep {}

Reverse sweep PWM-vs-BEMF curve (pwm_pct < 0), in sweep order.

Definition at line 348 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