autotune.hpp File Reference

Go to the source code of this file.

Namespaces
namespace	light
	Initialize once via init(); poll getPose/setPose from any task.

Functions
Stationary noise calibration
void	light::autotune_ekf_noise (int sampleMs=10, int durationMs=5000, int warmupMs=500)
	Stationary EKF process-noise calibration.
void	light::autotune_mcl_noise (int sampleMs=20, int durationMs=4000, int warmupMs=300)
	Stationary MCL distance-sensor noise calibration.
Bracket-and-bisect PID auto-tune (drive / turn / swing / heading)
Three-phase tuner with kI=0. Phase 1 doubles kP until the robot oscillates (≥3 zero-crossings of pos − target), then bisects between the last stable and oscillating values. Phase 2 boosts that kP, doubles kD until the oscillation damps, then bisects to find the smallest sufficient kD. Phase 3 then pushes kP higher in +15% steps — bumping kD when oscillation returns — until settle time stops improving (best-of-2 confirmed), and writes the fastest-settling stable (kP, kD) pair. Final values are applied live via pid_*_constants_set; transcribe the printed FINAL line into default_constants() to persist across reboots. Heading scores on the |L−R| motor voltage differential (the heading PID's own controller effort) instead of IMU error, so its oscillation read isn't masked by drive PID dynamics. Space: turn/swing ~3 ft²; drive ≥6 ft straight; heading ≥10 ft straight.
void	light::autotune_turn_pid (float turnAngleDeg=180.0f, float overshootThreshDeg=3.0f, int maxIters=20)
void	light::autotune_drive_pid (float driveDistIn=24.0f, float overshootThreshIn=0.5f, int maxIters=20)
void	light::autotune_swing_pid (float swingAngleDeg=90.0f, float overshootThreshDeg=3.0f, int maxIters=20)
void	light::autotune_heading_pid (float driveDistIn=48.0f, float peakDiffMv=3000.0f, int maxIters=20)