Struct SYN_Actuator_Config

ClassList > SYN_Actuator_Config

Actuator configuration.

• #include <syn_actuator.h>

Public Attributes

Type	Name
SYN_DCMotor *	dc_motor
int32_t	deadband
SYN_ErrLog *	errlog
int32_t	pid_kd
int32_t	pid_ki
int32_t	pid_kp
uint8_t	pid_scale
void *	read_ctx
SYN_MotorCtrl_ReadPos	read_pos
int32_t	stall_threshold
uint16_t	stall_timeout_ms
int32_t	stroke_max
int32_t	stroke_min
uint16_t	update_hz

Public Attributes Documentation

variable dc_motor

SYN_DCMotor* SYN_Actuator_Config::dc_motor;

DC motor for actuation

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variable deadband

int32_t SYN_Actuator_Config::deadband;

Position deadband (ADC units)

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variable errlog

SYN_ErrLog* SYN_Actuator_Config::errlog;

Optional error logging

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variable pid_kd

int32_t SYN_Actuator_Config::pid_kd;

PID derivative gain

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variable pid_ki

int32_t SYN_Actuator_Config::pid_ki;

PID integral gain

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variable pid_kp

int32_t SYN_Actuator_Config::pid_kp;

PID proportional gain

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variable pid_scale

uint8_t SYN_Actuator_Config::pid_scale;

Gain divisor = 1 << pid_scale

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variable read_ctx

void* SYN_Actuator_Config::read_ctx;

Context for read_pos

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variable read_pos

SYN_MotorCtrl_ReadPos SYN_Actuator_Config::read_pos;

Read potentiometer (returns int32_t)

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variable stall_threshold

int32_t SYN_Actuator_Config::stall_threshold;

Min motion for "not stalled"

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variable stall_timeout_ms

uint16_t SYN_Actuator_Config::stall_timeout_ms;

0 = disabled

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variable stroke_max

int32_t SYN_Actuator_Config::stroke_max;

ADC value at fully extended

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variable stroke_min

int32_t SYN_Actuator_Config::stroke_min;

ADC value at fully retracted

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variable update_hz

uint16_t SYN_Actuator_Config::update_hz;

Control loop frequency

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The documentation for this class was generated from the following file src/syntropic/motor/syn_actuator.h