Configurable observer settings. More...

#include <observer.h>

Public Attributes
int32_t	stall_speed_limit
	If this speed cannot be reached even with the maximum control signal defined in actuation_max, the controller is stalled. More...

uint32_t	stall_time
	Minimum consecutive stall time before stall flag getter returns true. More...

int32_t	feedback_voltage_negligible
	Lower limit of the feedback voltage where we cannot get useful stall information because it is less than needed to overcome static friction. More...

int32_t	feedback_voltage_stall_ratio
	When the motor is stuck, the observer moves ahead and pushes back with a feedback voltage. More...

int32_t	feedback_gain_low
	Feedback gain (mV/deg) to correct the observer for low estimation errors. More...

int32_t	feedback_gain_high
	Feedback gain (mV/deg) to correct the observer for high estimation error. More...

int32_t	feedback_gain_threshold
	Threshold angle (mdeg) from which the higher observer feedback is used. More...

int32_t	coulomb_friction_speed_cutoff
	Speed (mdeg/s) below which the coulomb friction starts to linearly scale to zero to avoid a sudden numeric switch in the friction force. More...

Detailed Description

Configurable observer settings.

Definition at line 50 of file observer.h.

Member Data Documentation

◆ coulomb_friction_speed_cutoff

int32_t _pbio_observer_settings_t::coulomb_friction_speed_cutoff

Speed (mdeg/s) below which the coulomb friction starts to linearly scale to zero to avoid a sudden numeric switch in the friction force.

Definition at line 87 of file observer.h.

◆ feedback_gain_high

int32_t _pbio_observer_settings_t::feedback_gain_high

Feedback gain (mV/deg) to correct the observer for high estimation error.

Definition at line 78 of file observer.h.

◆ feedback_gain_low

int32_t _pbio_observer_settings_t::feedback_gain_low

Feedback gain (mV/deg) to correct the observer for low estimation errors.

Definition at line 74 of file observer.h.

◆ feedback_gain_threshold

int32_t _pbio_observer_settings_t::feedback_gain_threshold

Threshold angle (mdeg) from which the higher observer feedback is used.

Definition at line 82 of file observer.h.

◆ feedback_voltage_negligible

int32_t _pbio_observer_settings_t::feedback_voltage_negligible

Lower limit of the feedback voltage where we cannot get useful stall information because it is less than needed to overcome static friction.

Definition at line 64 of file observer.h.

◆ feedback_voltage_stall_ratio

int32_t _pbio_observer_settings_t::feedback_voltage_stall_ratio

When the motor is stuck, the observer moves ahead and pushes back with a feedback voltage.

When it equal the given voltage, it is fully stuck. This ratio (0–100) sets the threshold above which we say it is stalled.

Definition at line 70 of file observer.h.

◆ stall_speed_limit

int32_t _pbio_observer_settings_t::stall_speed_limit

If this speed cannot be reached even with the maximum control signal defined in actuation_max, the controller is stalled.

Definition at line 55 of file observer.h.

◆ stall_time

uint32_t _pbio_observer_settings_t::stall_time

Minimum consecutive stall time before stall flag getter returns true.

Definition at line 59 of file observer.h.

The documentation for this struct was generated from the following file:

include/pbio/observer.h

Public Attributes