Struct SYN_MotorOutput¶

Abstract motor output interface (vtable). More...

#include <syn_motor_output.h>

Public Attributes¶

Type	Name
void(*	brake Active brake — short motor windings or active stop.
void(*	coast Coast — free-spin, both outputs off.
void *	ctx User context passed to all callbacks.
void(*	set_output Drive the motor at the given signed output level.

Detailed Description¶

The motor controller calls these functions to drive the motor without knowing the underlying hardware. This allows any motor driver to be used with syn_motor_ctrl, syn_autotune, etc.

Public Attributes Documentation¶

variable brake¶

Active brake — short motor windings or active stop.

void(* SYN_MotorOutput::brake) (void *ctx);

Motor decelerates as quickly as possible. Called during emergency stop (e-stop).

Parameters:

ctx User context.

variable coast¶

Coast — free-spin, both outputs off.

void(* SYN_MotorOutput::coast) (void *ctx);

Motor decelerates due to friction only. Called when the controller enters idle or stops normally.

Parameters:

ctx User context.

variable ctx¶

User context passed to all callbacks.

void* SYN_MotorOutput::ctx;

variable set_output¶

Drive the motor at the given signed output level.

void(* SYN_MotorOutput::set_output) (void *ctx, int32_t output);

The output range matches the controller's [output_min, output_max]. Positive = forward, negative = reverse, 0 = stop. The implementation must map this to the appropriate hardware command (PWM duty, step rate, etc.).

Parameters:

ctx User context (motor instance pointer).
output Signed output level.

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