Struct SYN_MotorCtrl_Config

ClassList > SYN_MotorCtrl_Config

Motor controller configuration (passed to init, copied internally).

• #include <syn_motor_ctrl.h>

Public Attributes

Type	Name
SYN_ErrLog *	errlog
int32_t	ff_ka
int32_t	ff_kv
uint8_t	ff_scale
SYN_MotorOutput	motor
int32_t	output_max
int32_t	output_min
int32_t	pid_kd PID derivative gain (÷ 1 << pid_scale).
int32_t	pid_ki PID integral gain (÷ 1 << pid_scale).
int32_t	pid_kp PID proportional gain (÷ 1 << pid_scale).
uint8_t	pid_scale
int32_t	position_deadband
int32_t	position_max
int32_t	position_min
SYN_MotorCtrl_ReadPos	read_pos
void *	read_pos_ctx
int32_t	stall_threshold
uint16_t	stall_timeout_ms
uint16_t	update_hz

Public Attributes Documentation

variable errlog

SYN_ErrLog* SYN_MotorCtrl_Config::errlog;

If set, stall/limit events logged

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variable ff_ka

int32_t SYN_MotorCtrl_Config::ff_ka;

Acceleration feedforward gain

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variable ff_kv

int32_t SYN_MotorCtrl_Config::ff_kv;

Velocity feedforward gain

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variable ff_scale

uint8_t SYN_MotorCtrl_Config::ff_scale;

FF divisor = 1 << ff_scale

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variable motor

SYN_MotorOutput SYN_MotorCtrl_Config::motor;

Motor output interface

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variable output_max

int32_t SYN_MotorCtrl_Config::output_max;

Max PID output (e.g., +255)

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variable output_min

int32_t SYN_MotorCtrl_Config::output_min;

Min PID output (e.g., -255)

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variable pid_kd

PID derivative gain (÷ 1 << pid_scale).

int32_t SYN_MotorCtrl_Config::pid_kd;

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variable pid_ki

PID integral gain (÷ 1 << pid_scale).

int32_t SYN_MotorCtrl_Config::pid_ki;

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variable pid_kp

PID proportional gain (÷ 1 << pid_scale).

int32_t SYN_MotorCtrl_Config::pid_kp;

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variable pid_scale

uint8_t SYN_MotorCtrl_Config::pid_scale;

Gain divisor = 1 << pid_scale

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variable position_deadband

int32_t SYN_MotorCtrl_Config::position_deadband;

Units within target = done

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variable position_max

int32_t SYN_MotorCtrl_Config::position_max;

Max allowed position (soft limit)

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variable position_min

int32_t SYN_MotorCtrl_Config::position_min;

Min allowed position (soft limit)

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variable read_pos

SYN_MotorCtrl_ReadPos SYN_MotorCtrl_Config::read_pos;

Position read function

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variable read_pos_ctx

void* SYN_MotorCtrl_Config::read_pos_ctx;

Context for read_pos

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variable stall_threshold

int32_t SYN_MotorCtrl_Config::stall_threshold;

Min units/period for "not stalled"

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variable stall_timeout_ms

uint16_t SYN_MotorCtrl_Config::stall_timeout_ms;

0 = disabled

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variable update_hz

uint16_t SYN_MotorCtrl_Config::update_hz;

Control loop frequency

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