Struct SYN_MotorCtrl¶

Motor controller instance (opaque — use API to access).

#include <syn_motor_ctrl.h>

Public Attributes¶

Type	Name
SYN_MotorCtrl_Config	cfg
SYN_DataLog *	datalog
bool	enabled True when the controller is enabled and driving output.
int32_t	ff_output
int32_t	last_position
uint32_t	last_update_tick Tick of last update() call.
int32_t	measured_position
int32_t	measured_velocity
SYN_MotorCtrl_Metrics	metrics Move metrics — accumulated during each move, zero buffer cost.
SYN_MotorCtrl_Mode	mode
SYN_MotorCtrl_StallCallback	on_stall Registered stall callback (NULL = none).
void *	on_stall_ctx User context passed to stall callback.
SYN_MotorCtrl_TargetCallback	on_target Registered on-target callback (NULL = none).
void *	on_target_ctx User context passed to on-target callback.
SYN_PID	pid
int32_t	pid_output
SYN_Ramp	profile Built-in ramp for move_to() (not used when set_trajectory is active).
bool	profile_active True when the built-in ramp profile is actively driving.
bool	scurve_active True when the built-in S-curve profile is actively driving.
SYN_SCurve	scurve_profile Built-in S-curve for move_to_scurve().
bool	stall_active True while output is nonzero but position isn't changing.
uint32_t	stall_start_tick Tick when stall condition was first detected.
SYN_MotorCtrl_State	state
int32_t	target_position
int32_t	target_velocity
int32_t	total_output
SYN_MotorCtrl_Trajectory	trajectory
bool	trajectory_active

Public Attributes Documentation¶

variable cfg¶

SYN_MotorCtrl_Config SYN_MotorCtrl::cfg;

Configuration snapshot

variable datalog¶

SYN_DataLog* SYN_MotorCtrl::datalog;

Attached datalog for telemetry

variable enabled¶

True when the controller is enabled and driving output.

bool SYN_MotorCtrl::enabled;

variable ff_output¶

int32_t SYN_MotorCtrl::ff_output;

Last feedforward output

variable last_position¶

int32_t SYN_MotorCtrl::last_position;

Position at last update

variable last_update_tick¶

Tick of last update() call.

uint32_t SYN_MotorCtrl::last_update_tick;

variable measured_position¶

int32_t SYN_MotorCtrl::measured_position;

Current position

variable measured_velocity¶

int32_t SYN_MotorCtrl::measured_velocity;

Current velocity

variable metrics¶

Move metrics — accumulated during each move, zero buffer cost.

SYN_MotorCtrl_Metrics SYN_MotorCtrl::metrics;

variable mode¶

SYN_MotorCtrl_Mode SYN_MotorCtrl::mode;

Current operating mode

variable on_stall¶

Registered stall callback (NULL = none).

SYN_MotorCtrl_StallCallback SYN_MotorCtrl::on_stall;

variable on_stall_ctx¶

User context passed to stall callback.

void* SYN_MotorCtrl::on_stall_ctx;

variable on_target¶

Registered on-target callback (NULL = none).

SYN_MotorCtrl_TargetCallback SYN_MotorCtrl::on_target;

variable on_target_ctx¶

User context passed to on-target callback.

void* SYN_MotorCtrl::on_target_ctx;

variable pid¶

SYN_PID SYN_MotorCtrl::pid;

Embedded PID controller

variable pid_output¶

int32_t SYN_MotorCtrl::pid_output;

Last PID output

variable profile¶

Built-in ramp for move_to() (not used when set_trajectory is active).

SYN_Ramp SYN_MotorCtrl::profile;

variable profile_active¶

True when the built-in ramp profile is actively driving.

bool SYN_MotorCtrl::profile_active;

variable scurve_active¶

True when the built-in S-curve profile is actively driving.

bool SYN_MotorCtrl::scurve_active;

variable scurve_profile¶

Built-in S-curve for move_to_scurve().

SYN_SCurve SYN_MotorCtrl::scurve_profile;

variable stall_active¶

True while output is nonzero but position isn't changing.

bool SYN_MotorCtrl::stall_active;

variable stall_start_tick¶

Tick when stall condition was first detected.

uint32_t SYN_MotorCtrl::stall_start_tick;

variable state¶

SYN_MotorCtrl_State SYN_MotorCtrl::state;

Current runtime state

variable target_position¶

int32_t SYN_MotorCtrl::target_position;

Target position value

variable target_velocity¶

int32_t SYN_MotorCtrl::target_velocity;

Units per second

variable total_output¶

int32_t SYN_MotorCtrl::total_output;

Last combined output

variable trajectory¶

SYN_MotorCtrl_Trajectory SYN_MotorCtrl::trajectory;

Current trajectory point

variable trajectory_active¶

bool SYN_MotorCtrl::trajectory_active;

True when using set_trajectory

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