#include <SimWorld.hpp>

Public Attributes
DrivetrainKind	kind {DrivetrainKind::Differential}
uint8_t	leftPort {0}
uint8_t	rightPort {1}
bool	leftInverted {false}
bool	rightInverted {false}
uint8_t	flPort {0}
uint8_t	frPort {1}
uint8_t	blPort {2}
uint8_t	brPort {3}
bool	flInverted {false}
bool	frInverted {false}
bool	blInverted {false}
bool	brInverted {false}
float	maxWheelVelocityRadS {30.0f}
float	motorTimeConstantSec {0.1f}
float	ticksToRad {0.00436332313f}
float	bemfSampleRateHz {200.0f}
float	viscousDragCoeff {0.0f}
float	coulombFrictionRadSS {0.0f}
float	bemfNoiseStddev {0.0f}

Detailed Description

Motor mapping + kinematic parameters the sim needs beyond the pure geometry in RobotConfig. Kept here (not in RobotConfig) because this is sim-specific tuning, not robot ground truth.

Definition at line 29 of file SimWorld.hpp.

Member Data Documentation

◆ bemfNoiseStddev

float libstp::sim::SimMotorMap::bemfNoiseStddev {0.0f}

Standard deviation of Gaussian noise added to BEMF integer readings (in raw BEMF units). Models real encoder quantization and electrical noise. Default 0 = clean readings.

Definition at line 85 of file SimWorld.hpp.

◆ bemfSampleRateHz

float libstp::sim::SimMotorMap::bemfSampleRateHz {200.0f}

BEMF sample rate in Hz used by MotorAdapter when encoding wheel ω as a BEMF integer. The wombat firmware samples motor BEMF at 200 Hz, so setVelocity(N) means "N encoder ticks per 5 ms". The sim must use the same scale to recover wheel ω from the commanded integer.

Definition at line 68 of file SimWorld.hpp.

◆ blInverted

bool libstp::sim::SimMotorMap::blInverted {false}

Definition at line 46 of file SimWorld.hpp.

◆ blPort

uint8_t libstp::sim::SimMotorMap::blPort {2}

Definition at line 42 of file SimWorld.hpp.

◆ brInverted

bool libstp::sim::SimMotorMap::brInverted {false}

Definition at line 47 of file SimWorld.hpp.

◆ brPort

uint8_t libstp::sim::SimMotorMap::brPort {3}

Definition at line 43 of file SimWorld.hpp.

◆ coulombFrictionRadSS

float libstp::sim::SimMotorMap::coulombFrictionRadSS {0.0f}

Coulomb (dry/constant) friction in rad/s². A constant angular deceleration opposing motion, independent of speed. Models gearbox friction and wheel-surface interaction. Clamped so it cannot reverse direction. Default 0 = no Coulomb friction.

Definition at line 80 of file SimWorld.hpp.

◆ flInverted

bool libstp::sim::SimMotorMap::flInverted {false}

Definition at line 44 of file SimWorld.hpp.

◆ flPort

uint8_t libstp::sim::SimMotorMap::flPort {0}

Definition at line 40 of file SimWorld.hpp.

◆ frInverted

bool libstp::sim::SimMotorMap::frInverted {false}

Definition at line 45 of file SimWorld.hpp.

◆ frPort

uint8_t libstp::sim::SimMotorMap::frPort {1}

Definition at line 41 of file SimWorld.hpp.

◆ kind

DrivetrainKind libstp::sim::SimMotorMap::kind {DrivetrainKind::Differential}

Definition at line 31 of file SimWorld.hpp.

◆ leftInverted

bool libstp::sim::SimMotorMap::leftInverted {false}

Definition at line 36 of file SimWorld.hpp.

◆ leftPort

uint8_t libstp::sim::SimMotorMap::leftPort {0}

Definition at line 34 of file SimWorld.hpp.

◆ maxWheelVelocityRadS

float libstp::sim::SimMotorMap::maxWheelVelocityRadS {30.0f}

Wheel angular velocity (rad/s) produced by a 100% command. Used as the linear scale from commanded signed percent to wheel ω.

Definition at line 51 of file SimWorld.hpp.

◆ motorTimeConstantSec

float libstp::sim::SimMotorMap::motorTimeConstantSec {0.1f}

First-order motor lag in seconds. wheel_ω approaches target_ω with time constant τ (≈ rise time from 0 to 63% of a step).

Definition at line 55 of file SimWorld.hpp.

◆ rightInverted

bool libstp::sim::SimMotorMap::rightInverted {false}

Definition at line 37 of file SimWorld.hpp.

◆ rightPort

uint8_t libstp::sim::SimMotorMap::rightPort {1}

Definition at line 35 of file SimWorld.hpp.

◆ ticksToRad

float libstp::sim::SimMotorMap::ticksToRad {0.00436332313f}

Motor encoder calibration: radians per encoder tick. Matches the default in foundation::MotorCalibration (≈ 2π/1440). Used to convert between BEMF integer commands (Motor::setVelocity) and wheel angular velocity inside the sim.

Definition at line 61 of file SimWorld.hpp.

◆ viscousDragCoeff

float libstp::sim::SimMotorMap::viscousDragCoeff {0.0f}

Viscous (velocity-proportional) drag coefficient in 1/s. At each tick the wheel ω is reduced by viscousDragCoeff * ω * dt. Models bearing friction and back-EMF drag that scale with speed. Default 0 = no viscous drag (legacy behavior).

Definition at line 74 of file SimWorld.hpp.

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

/home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-sim/include/libstp/sim/SimWorld.hpp

Public Attributes