servo_sync_t Struct Reference

Data Fields
servo_sync_cfg_t	cfg
servo_sync_state_t	state
servo_sync_fault_t	fault
int16_t	trim_us
int16_t	travel_hi_us
int16_t	travel_lo_us
float	best_a [SERVO_SYNC_STAGE_COUNT]
	What the pair draws at the best and the worst point of each stage.
float	worst_a [SERVO_SYNC_STAGE_COUNT]
servo_sync_stage_t	stage
uint8_t	round
uint8_t	point
int32_t	win_centre_us
int32_t	win_half_us
float	scan_a [SERVO_SYNC_MAX_POINTS]
uint32_t	phase_start_ms
uint32_t	travel_ms
bool	measuring
double	sum_a
uint32_t	samples
bool	started
uint16_t	cmd_a_us
uint16_t	cmd_b_us

Field Documentation

best_a

float servo_sync_t::best_a[SERVO_SYNC_STAGE_COUNT]

What the pair draws at the best and the worst point of each stage.

The difference is the gain from the correction.

travel_hi_us

int16_t servo_sync_t::travel_hi_us

B's throw when A is at +deflection

travel_lo_us

int16_t servo_sync_t::travel_lo_us

B's throw when A is at -deflection

travel_ms

uint32_t servo_sync_t::travel_ms

extra wait for the move just commanded

trim_us

int16_t servo_sync_t::trim_us

signed offset applied at centre

---

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

• shared/servo/include/servo_sync.h