Struct SYN_AutoTune_Result

ClassList > SYN_AutoTune_Result

Auto-tune results (valid when state == DONE).

• #include <syn_autotune.h>

Public Attributes

Type	Name
int32_t	Ku
uint32_t	Tu_ms
int32_t	ff_ka
int32_t	ff_kv
uint8_t	ff_scale
int32_t	kd
int32_t	ki
int32_t	kp
uint8_t	pid_scale
int32_t	steady_velocity_1
int32_t	steady_velocity_2

Public Attributes Documentation

variable Ku

int32_t SYN_AutoTune_Result::Ku;

Ultimate gain (scaled by pid_scale)

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variable Tu_ms

uint32_t SYN_AutoTune_Result::Tu_ms;

Ultimate period (ms)

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variable ff_ka

int32_t SYN_AutoTune_Result::ff_ka;

Computed inertia feedforward gain

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variable ff_kv

int32_t SYN_AutoTune_Result::ff_kv;

Computed velocity feedforward gain

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variable ff_scale

uint8_t SYN_AutoTune_Result::ff_scale;

Feedforward scale (same as ctrl cfg)

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variable kd

int32_t SYN_AutoTune_Result::kd;

Computed derivative gain

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variable ki

int32_t SYN_AutoTune_Result::ki;

Computed integral gain

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variable kp

int32_t SYN_AutoTune_Result::kp;

Computed proportional gain

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variable pid_scale

uint8_t SYN_AutoTune_Result::pid_scale;

PID gain scale

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variable steady_velocity_1

int32_t SYN_AutoTune_Result::steady_velocity_1;

Measured velocity at point 1

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variable steady_velocity_2

int32_t SYN_AutoTune_Result::steady_velocity_2;

Measured velocity at point 2

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