autotune.hpp

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#pragma once
 
namespace light {
 
void autotune_ekf_noise(int sampleMs = 10, int durationMs = 5000, int warmupMs = 500);
 
void autotune_mcl_noise(int sampleMs = 20, int durationMs = 4000, int warmupMs = 300);
 
void autotune_turn_pid   (float turnAngleDeg  = 180.0f, float overshootThreshDeg = 3.0f,    int maxIters = 20);
void autotune_drive_pid  (float driveDistIn   = 24.0f,  float overshootThreshIn  = 0.5f,    int maxIters = 20);
void autotune_swing_pid  (float swingAngleDeg = 90.0f,  float overshootThreshDeg = 3.0f,    int maxIters = 20);
void autotune_heading_pid(float driveDistIn   = 48.0f,  float peakDiffMv         = 3000.0f, int maxIters = 20);
}  // namespace light