servo_limit_t Struct Reference

Data Fields
servo_limit_cfg_t	cfg
servo_limit_state_t	state
servo_limit_fault_t	fault
uint16_t	cmd_us
uint16_t	last_free_us
uint16_t	limit_us
float	baseline_a
float	knee_a
uint32_t	phase_start_ms
bool	measuring
double	sum_a
uint32_t	samples
uint32_t	baseline_steps
double	baseline_sum
uint32_t	elevated_since_ms
bool	elevated
bool	started

Field Documentation

baseline_a

float servo_limit_t::baseline_a

free-running current, from the first steps

baseline_steps

uint32_t servo_limit_t::baseline_steps

how many positions have fed the baseline

cmd_us

uint16_t servo_limit_t::cmd_us

the current command to the servo

knee_a

float servo_limit_t::knee_a

the current measured at the bound position

last_free_us

uint16_t servo_limit_t::last_free_us

the furthest position that was still free

limit_us

uint16_t servo_limit_t::limit_us

the answer, once state is FOUND

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

• shared/servo/include/servo_limit.h