Struct SYN_MotorCtrl_Metrics

ClassList > SYN_MotorCtrl_Metrics

Accumulated metrics for a single move/trajectory. More...

• #include <syn_motor_ctrl.h>

Public Attributes

Type	Name
int64_t	error_sq_sum
int32_t	max_error
uint32_t	move_start_tick
int32_t	overshoot
int32_t	peak_output
uint32_t	sample_count
uint32_t	settle_tick

Detailed Description

Updated every update() call. Read back after a move completes to evaluate tracking performance without storing per-sample data. Call syn_motor_ctrl_reset_metrics() before a move to start fresh.

Public Attributes Documentation

variable error_sq_sum

int64_t SYN_MotorCtrl_Metrics::error_sq_sum;

Sum of error² (for RMS computation)

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variable max_error

int32_t SYN_MotorCtrl_Metrics::max_error;

Peak |position_error| during move

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variable move_start_tick

uint32_t SYN_MotorCtrl_Metrics::move_start_tick;

Tick when move started

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variable overshoot

int32_t SYN_MotorCtrl_Metrics::overshoot;

Max overshoot past target (position)

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variable peak_output

int32_t SYN_MotorCtrl_Metrics::peak_output;

Peak |output| applied to motor

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variable sample_count

uint32_t SYN_MotorCtrl_Metrics::sample_count;

Number of update() calls in this move

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variable settle_tick

uint32_t SYN_MotorCtrl_Metrics::settle_tick;

Tick when first entered deadband (0=never)

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