Struct SYN_AutoTune¶

Auto-tuner instance.

#include <syn_autotune.h>

Public Attributes¶

Type	Name
SYN_AutoTune_AbortReason	abort_reason
bool	above_setpoint
uint8_t	amplitude_count
int32_t	amplitude_sum
SYN_AutoTune_Config	cfg
SYN_MotorCtrl *	ctrl
int32_t	current_output
uint8_t	half_cycles
int32_t	history_v
bool	ka_p1_captured
bool	ka_p2_captured
uint32_t	ka_t1
uint32_t	ka_t2
int32_t	ka_v1
int32_t	ka_v2
uint32_t	last_check_tick
uint32_t	last_cross_tick
uint32_t	last_update_tick
int32_t	osc_peak_neg
int32_t	osc_peak_pos
uint8_t	period_count
uint32_t	period_sum
uint32_t	phase_start_tick
int32_t	relay_output
SYN_AutoTune_Result	result
int32_t	start_output
int32_t	start_position
SYN_AutoTune_State	state
uint32_t	velocity_samples
int64_t	velocity_sum

Public Attributes Documentation¶

variable abort_reason¶

SYN_AutoTune_AbortReason SYN_AutoTune::abort_reason;

Reason if aborted

variable above_setpoint¶

bool SYN_AutoTune::above_setpoint;

Current side of setpoint

variable amplitude_count¶

uint8_t SYN_AutoTune::amplitude_count;

Number of amplitude samples

variable amplitude_sum¶

int32_t SYN_AutoTune::amplitude_sum;

Sum of oscillation amps

variable cfg¶

SYN_AutoTune_Config SYN_AutoTune::cfg;

Configuration snapshot

variable ctrl¶

SYN_MotorCtrl* SYN_AutoTune::ctrl;

Controlled motor

variable current_output¶

int32_t SYN_AutoTune::current_output;

Current applied output percentage

variable half_cycles¶

uint8_t SYN_AutoTune::half_cycles;

Half-cycle counter

variable history_v¶

int32_t SYN_AutoTune::history_v;

Velocity sample from previous check

variable ka_p1_captured¶

bool SYN_AutoTune::ka_p1_captured;

Point 1 captured

variable ka_p2_captured¶

bool SYN_AutoTune::ka_p2_captured;

Point 2 captured

variable ka_t1¶

uint32_t SYN_AutoTune::ka_t1;

Initial tick for Ka identification

variable ka_t2¶

uint32_t SYN_AutoTune::ka_t2;

Final tick for Ka identification

variable ka_v1¶

int32_t SYN_AutoTune::ka_v1;

Initial velocity for Ka identification

variable ka_v2¶

int32_t SYN_AutoTune::ka_v2;

Final velocity for Ka identification

variable last_check_tick¶

uint32_t SYN_AutoTune::last_check_tick;

Tick of last steady-state check

variable last_cross_tick¶

uint32_t SYN_AutoTune::last_cross_tick;

Last zero-crossing tick

variable last_update_tick¶

uint32_t SYN_AutoTune::last_update_tick;

Tick count of last update() call

variable osc_peak_neg¶

int32_t SYN_AutoTune::osc_peak_neg;

Min position in half-cycle

variable osc_peak_pos¶

int32_t SYN_AutoTune::osc_peak_pos;

Max position in half-cycle

variable period_count¶

uint8_t SYN_AutoTune::period_count;

Number of full periods

variable period_sum¶

uint32_t SYN_AutoTune::period_sum;

Sum of full periods (ms)

variable phase_start_tick¶

uint32_t SYN_AutoTune::phase_start_tick;

Tick count when current phase started

variable relay_output¶

int32_t SYN_AutoTune::relay_output;

Current relay sign × amp

variable result¶

SYN_AutoTune_Result SYN_AutoTune::result;

Computed results

variable start_output¶

int32_t SYN_AutoTune::start_output;

Output at start of ramp-down

variable start_position¶

int32_t SYN_AutoTune::start_position;

Position when tuning started

variable state¶

SYN_AutoTune_State SYN_AutoTune::state;

Current state machine state

variable velocity_samples¶

uint32_t SYN_AutoTune::velocity_samples;

Number of velocity samples

variable velocity_sum¶

int64_t SYN_AutoTune::velocity_sum;

Accumulated velocity sum

The documentation for this class was generated from the following file src/syntropic/control/syn_autotune.h