Struct SYN_AutoTune_Config

ClassList > SYN_AutoTune_Config

Auto-tuner configuration.

• #include <syn_autotune.h>

Public Attributes

Type	Name
SYN_DataLog *	datalog
SYN_AutoTune_Flags	flags
uint16_t	gain_multiplier_pct
SYN_AutoTune_Limits	limits
uint32_t	measure_ms
SYN_AutoTune_Method	method
SYN_AutoTune_Mode	mode
uint32_t	ramp_ms
uint8_t	relay_cycles
int32_t	setpoint
uint32_t	settle_ms
int32_t	test_output
uint32_t	watchdog_ms

Public Attributes Documentation

variable datalog

SYN_DataLog* SYN_AutoTune_Config::datalog;

If set, capture tuning telemetry

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variable flags

SYN_AutoTune_Flags SYN_AutoTune_Config::flags;

Feature enablement flags

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variable gain_multiplier_pct

uint16_t SYN_AutoTune_Config::gain_multiplier_pct;

Gain multiplier percentage (1-200). Default: 100. Allows applying a safety margin to calculated PID gains (e.g., 80 for 80%).

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variable limits

SYN_AutoTune_Limits SYN_AutoTune_Config::limits;

Physical constraints

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variable measure_ms

uint32_t SYN_AutoTune_Config::measure_ms;

Duration to average velocity

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variable method

SYN_AutoTune_Method SYN_AutoTune_Config::method;

PID gain formula

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variable mode

SYN_AutoTune_Mode SYN_AutoTune_Config::mode;

Operating mode

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variable ramp_ms

uint32_t SYN_AutoTune_Config::ramp_ms;

Ramp time — ms to ramp from 0 to test_output. Default: 500 ms. Prevents jerking heavy loads with a step input.

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variable relay_cycles

uint8_t SYN_AutoTune_Config::relay_cycles;

Oscillation cycles to measure

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variable setpoint

int32_t SYN_AutoTune_Config::setpoint;

Position to oscillate around

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variable settle_ms

uint32_t SYN_AutoTune_Config::settle_ms;

Time to reach steady-state

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variable test_output

int32_t SYN_AutoTune_Config::test_output;

Motor output during test (% of output_max). If 0, the tuner will probe for the minimum motion output.

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variable watchdog_ms

uint32_t SYN_AutoTune_Config::watchdog_ms;

Abort if update() not called within this time (ms). Protects against application crashes. Default: 500 ms.

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