Struct SYN_MotorCtrl_Sample¶
ClassList > SYN_MotorCtrl_Sample
One sample of control-loop telemetry. More...
#include <syn_motor_ctrl.h>
Public Attributes¶
| Type | Name |
|---|---|
| int32_t | ff_output |
| int32_t | measured_pos |
| int32_t | measured_vel |
| int32_t | pid_output |
| int32_t | target_pos |
| int32_t | target_vel |
| uint32_t | tick_ms |
| int32_t | total_output |
Detailed Description¶
Written to the attached SYN_DataLog every update() call. At 1000 Hz with a 4 KB buffer you get ~1.2 seconds of capture.
Public Attributes Documentation¶
variable ff_output¶
Feedforward contribution
variable measured_pos¶
Measured position (from feedback)
variable measured_vel¶
Measured velocity
variable pid_output¶
PID feedback contribution
variable target_pos¶
Trajectory/target position
variable target_vel¶
Trajectory/target velocity
variable tick_ms¶
Timestamp
variable total_output¶
Final clamped output to motor
The documentation for this class was generated from the following file src/syntropic/motor/syn_motor_ctrl.h