Configuration for the VelLpfTuner (encoder-velocity LPF alpha). More...

#include <types.hpp>

Public Attributes
double	alpha_min {0.05}
	Minimum alpha to evaluate.
double	alpha_max {0.95}
	Maximum alpha to evaluate.
double	alpha_step {0.05}
	Sweep increment.
double	measure_duration_s {1.0}
	Sampling duration per motor (s).
int	sample_hz {200}
	Sampling rate (Hz).
double	noise_weight {1.0}
	Weight on filtered variance in the score.
double	lag_weight {0.5}
int	spin_percent {40}
double	settle_s {0.5}
	Settle time after spin-up before sampling (s).

Detailed Description

Configuration for the VelLpfTuner (encoder-velocity LPF alpha).

Definition at line 360 of file types.hpp.

Member Data Documentation

◆ alpha_max

double libstp::autotune::VelLpfConfig::alpha_max {0.95}

Maximum alpha to evaluate.

Definition at line 363 of file types.hpp.

◆ alpha_min

double libstp::autotune::VelLpfConfig::alpha_min {0.05}

Minimum alpha to evaluate.

Definition at line 362 of file types.hpp.

◆ alpha_step

double libstp::autotune::VelLpfConfig::alpha_step {0.05}

Sweep increment.

Definition at line 364 of file types.hpp.

◆ lag_weight

double libstp::autotune::VelLpfConfig::lag_weight {0.5}

Weight on (1 / lag-change-rate) in the score.

Definition at line 368 of file types.hpp.

◆ measure_duration_s

double libstp::autotune::VelLpfConfig::measure_duration_s {1.0}

Sampling duration per motor (s).

Definition at line 365 of file types.hpp.

◆ noise_weight

double libstp::autotune::VelLpfConfig::noise_weight {1.0}

Weight on filtered variance in the score.

Definition at line 367 of file types.hpp.

◆ sample_hz

int libstp::autotune::VelLpfConfig::sample_hz {200}

Sampling rate (Hz).

Definition at line 366 of file types.hpp.

◆ settle_s

double libstp::autotune::VelLpfConfig::settle_s {0.5}

Settle time after spin-up before sampling (s).

Definition at line 374 of file types.hpp.

◆ spin_percent

int libstp::autotune::VelLpfConfig::spin_percent {40}

Open-loop PWM (%) applied to spin the motors while sampling. The LPF filters the running BEMF stream, so the signal must be captured in motion — sampling at standstill yields only deadzone noise and tunes nothing. All drive motors spin forward together (one straight run).

Definition at line 373 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