servo_pair_cfg_t Struct Reference

A pair, coupled through the surface they both drive. More...

#include <servo_sim.h>

Data Fields
uint16_t	centre_us
int16_t	offset_us
	How far servo B's real centre sits from where it is commanded.
float	travel
	B's real throw as a multiple of what it is commanded. 1.0 is right.
float	free_a
	What the pair draws with nothing to fight about.
float	fight_a_per_us
	Extra total current per microsecond of disagreement.
float	travel_a
	What the pair draws while either of them is still travelling.
float	slew_us_per_ms
float	noise_a

Detailed Description

A pair, coupled through the surface they both drive.

The model renders two facts: disagreement costs current and agreement does not, and the disagreement is settled mechanically rather than reported. Servo B's centre and its throw are each wrong by a configurable amount, the installation error the synchroniser measures. The two errors are separate parameters because the synchroniser separates them.

Field Documentation

travel_a

float servo_pair_cfg_t::travel_a

What the pair draws while either of them is still travelling.

As with the single servo, a reading taken too early sees this.

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

• shared/servo/include/servo_sim.h