Class LimitedRangeSystemIdentification

Performs a limited-range system identification procedure on a device.

This class safely executes the system identification process while preserving the device's original configuration (PID parameters, encoder settings, position feedback filter). It emits notifications about progress and status updates, which can be displayed in a UI or logged for debugging.

Hierarchy

  • LimitedRangeSystemIdentification

Constructors

constructor

Properties

client deviceRef isRunning notifications$ options

Methods

start

Constructors

constructor

Properties

Readonly client

client: MotionMasterClient

The Motion Master client used for communication with the device.

Readonly deviceRef

deviceRef: DeviceRef

A reference to the target device.

isRunning

isRunning: boolean = false

Indicates whether the system identification procedure is currently running.

Readonly notifications$

notifications$: Subject<string> = ...

Emits status and progress messages during the procedure. Subscribers can display these messages in a UI or log them.

Readonly options

options: LimitedRangeSystemIdentificationOptions = ...

Configuration options for the procedure.

Methods

start

  • Starts the limited-range system identification procedure.

    This method:

    • Ensures the device is in a safe state.
    • Computes and sets initial PID values.
    • Starts data monitoring for position feedback.
    • Runs the chirp signal on the device.
    • Computes the plant model without the chirp signal.
    • Restores all device settings to their original values.

    Emits notifications to notifications$ for each major step and error.

    Throws

    Will throw an error if any of the device requests fail.

    Returns Promise<void>

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