File syn_actuator.c

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Linear actuator implementation.

• #include "../motor/syn_dc_motor.h"
• #include "../util/syn_assert.h"
• #include "syn_actuator.h"
• #include <string.h>

Public Functions

Type	Name
void	syn_actuator_clear_stall (SYN_Actuator * act) Clear stall condition and re-enable.
void	syn_actuator_init (SYN_Actuator * act, const SYN_Actuator_Config * cfg) Initialize linear actuator.
void	syn_actuator_set_position (SYN_Actuator * act, int16_t pct_x10) Set desired position.
void	syn_actuator_stop (SYN_Actuator * act) Stop the actuator immediately.
int16_t	syn_actuator_update (SYN_Actuator * act) Update — read pot, run PID, drive motor.

Public Static Functions

Type	Name
int16_t	adc_to_pct (const SYN_Actuator * act, int32_t adc) Convert ADC value to position percentage.
int32_t	pct_to_adc (const SYN_Actuator * act, int16_t pct) Convert position percentage (0.0–1000 = 0–100%) to ADC units.

Public Functions Documentation

function syn_actuator_clear_stall

Clear stall condition and re-enable.

void syn_actuator_clear_stall (
    SYN_Actuator * act
) 

Parameters:

• act Actuator.

---

function syn_actuator_init

Initialize linear actuator.

void syn_actuator_init (
    SYN_Actuator * act,
    const SYN_Actuator_Config * cfg
) 

Parameters:

• act Actuator instance.
• cfg Configuration.

---

function syn_actuator_set_position

Set desired position.

void syn_actuator_set_position (
    SYN_Actuator * act,
    int16_t pct_x10
) 

Parameters:

• act Actuator instance.
• pct_x10 Position in 0.1% units (0 = retracted, 1000 = extended).

---

function syn_actuator_stop

Stop the actuator immediately.

void syn_actuator_stop (
    SYN_Actuator * act
) 

Parameters:

• act Actuator instance.

---

function syn_actuator_update

Update — read pot, run PID, drive motor.

int16_t syn_actuator_update (
    SYN_Actuator * act
) 

Call from your scheduler task at the configured update_hz.

Parameters:

• act Actuator instance.

Returns:

Current position (0-1000).

---

Public Static Functions Documentation

function adc_to_pct

Convert ADC value to position percentage.

static int16_t adc_to_pct (
    const SYN_Actuator * act,
    int32_t adc
) 

Parameters:

• act Actuator instance.
• adc ADC reading.

Returns:

Position in 0.1% units (0–1000).

---

function pct_to_adc

Convert position percentage (0.0–1000 = 0–100%) to ADC units.

static int32_t pct_to_adc (
    const SYN_Actuator * act,
    int16_t pct
) 

Parameters:

• act Actuator instance.
• pct Position in 0.1% units (0–1000).

Returns:

ADC value.

---

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