- Generated by
1.18.0
|
rcbench
Servo and ESC test bench: panel, IOmcu and shared C
|
Data Fields | |
| uint16_t | stop_lo_us |
| Where the linkage binds, as a pulse width. | |
| uint16_t | stop_hi_us |
| float | free_a |
| float | stall_a |
| uint16_t | bind_us |
| How far past the stop the current takes to go from free to stall. | |
| float | travel_a |
| What the servo draws while it is slewing. | |
| uint16_t | stiff_lo_us |
| A stiff patch: a band of travel that costs more to hold than the rest without being the end of anything, such as a bellcrank binding at one angle, a pushrod rubbing through a former, or a tight hinge mid-range. | |
| uint16_t | stiff_hi_us |
| float | stiff_a |
| float | slew_us_per_ms |
| float | noise_a |
| uint16_t | limit_lo_us |
| The servo's own travel limits, as the pulse widths they stop it at: a command past one moves the horn to it and no further, and pushes no harder than there. A programmable servo's end angles (KST's LEFT and RIGHT ANGLE) are such limits. 0 is none. | |
| uint16_t | limit_hi_us |
| uint16_t servo_sim_cfg_t::bind_us |
How far past the stop the current takes to go from free to stall.
A linkage is not infinitely stiff; this is the width of the knee.
| float servo_sim_cfg_t::free_a |
holding a free surface
| float servo_sim_cfg_t::noise_a |
peak-to-peak sensor noise
| float servo_sim_cfg_t::slew_us_per_ms |
how fast the horn actually moves
| float servo_sim_cfg_t::stall_a |
hard against the stop
| uint16_t servo_sim_cfg_t::stiff_lo_us |
A stiff patch: a band of travel that costs more to hold than the rest without being the end of anything, such as a bellcrank binding at one angle, a pushrod rubbing through a former, or a tight hinge mid-range.
The knee test carries an absolute margin as well as a ratio because of these: on a lightly loaded surface a tight spot is a large multiple of almost nothing, and a search that stops at one reports a limit short of the real one.
| uint16_t servo_sim_cfg_t::stop_lo_us |
Where the linkage binds, as a pulse width.
Two values: a surface's stops are not symmetric about the servo's centre once a horn and a pushrod are involved, which is why the limit is measured per installation.
| float servo_sim_cfg_t::travel_a |
What the servo draws while it is slewing.
A servo accelerating a surface draws a large fraction of stall current on the first part of a step, indistinguishable from a bind to a reading taken before the horn has arrived. The search settles before it measures for this reason, so the model reproduces it.
1.18.0