auto_tuning.h

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#pragma once
 
#include <chrono>
#include <cstdint>
#include <map>
#include <mutex>
#include <string>
#include <variant>
 
#include "cia402_drive.h"
#include "si_unit_velocity.h"
#include "util.h"
 
class AutoTuning {
 public:
  AutoTuning(Cia402Drive& cia402_drive, TuningParameters tuning_params);

  MotionMasterError start_position_auto_tuning();

  MotionMasterError start_iterative_sharpening_position_auto_tuning();

  MotionMasterError start_velocity_auto_tuning();
 
 private:
  Cia402Drive& cia402_drive_;
 
  TuningParameters tuning_params_;
  SystemParameters system_params_;
 
  SiUnitVelocity si_unit_velocity_;
  double feed_constant_ = 0;

  MotionMasterError init();

  std::tuple<double, double> record_pre_sharpening_behavior();

  double sharpening(double omega0, double init_velocity_deviation,
                    double init_torque_noise, double big_k, double big_t);
};