Result of tuning a single velocity axis. More...

#include <types.hpp>

Collaboration diagram for libstp::autotune::VelocityTuneResult:

Public Attributes
std::string	axis
	"vx", "vy", or "wz"
PlantParams	plant {}
foundation::PidGains	pid {0.0, 0.0, 0.0}
foundation::Feedforward	ff {0.0, 1.0, 0.0}
	kV=1 passthrough default
double	baseline_ise {0.0}
double	tuned_ise {0.0}
bool	accepted {false}
double	velocity_command_gain {1.0}
double	measured_gain_before {0.0}
	Measured steady-state gain (achieved/commanded) before tuning.
double	measured_gain_after {0.0}
	Measured steady-state gain (achieved/commanded) after tuning.
StepResponseData	baseline_response {}
StepResponseData	tuned_response {}
	Raw tuned step-response recording (empty when CHR was skipped).

Detailed Description

Result of tuning a single velocity axis.

Definition at line 78 of file types.hpp.

Member Data Documentation

◆ accepted

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

Definition at line 86 of file types.hpp.

◆ axis

std::string libstp::autotune::VelocityTuneResult::axis

"vx", "vy", or "wz"

Definition at line 80 of file types.hpp.

◆ baseline_ise

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

Definition at line 84 of file types.hpp.

◆ baseline_response

StepResponseData libstp::autotune::VelocityTuneResult::baseline_response {}

Raw baseline step-response recording (commanded vs measured), for offline plotting of the open-loop fit.

Definition at line 97 of file types.hpp.

◆ ff

foundation::Feedforward libstp::autotune::VelocityTuneResult::ff {0.0, 1.0, 0.0}

kV=1 passthrough default

Definition at line 83 of file types.hpp.

◆ measured_gain_after

double libstp::autotune::VelocityTuneResult::measured_gain_after {0.0}

Measured steady-state gain (achieved/commanded) after tuning.

Definition at line 94 of file types.hpp.

◆ measured_gain_before

double libstp::autotune::VelocityTuneResult::measured_gain_before {0.0}

Measured steady-state gain (achieved/commanded) before tuning.

Definition at line 92 of file types.hpp.

◆ pid

foundation::PidGains libstp::autotune::VelocityTuneResult::pid {0.0, 0.0, 0.0}

Definition at line 82 of file types.hpp.

◆ plant

PlantParams libstp::autotune::VelocityTuneResult::plant {}

Definition at line 81 of file types.hpp.

◆ tuned_ise

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

Definition at line 85 of file types.hpp.

◆ tuned_response

StepResponseData libstp::autotune::VelocityTuneResult::tuned_response {}

Raw tuned step-response recording (empty when CHR was skipped).

Definition at line 99 of file types.hpp.

◆ velocity_command_gain

double libstp::autotune::VelocityTuneResult::velocity_command_gain {1.0}

MCU-chassis path: the calibrated per-axis velocity-command gain that was applied to the kinematics fwd_matrix (and pushed to the STM32) so commanded == achieved body velocity. 1.0 means no correction.

Definition at line 90 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