Pybricks I/O

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...  
Configurable observer settings.
Definition at line 50 of file observer.h.
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.
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.
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.
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.
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.
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.
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.
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.