File syn_actuator.h¶

FileList > motor > syn_actuator.h

Linear actuator with potentiometer feedback. More...

#include "../common/syn_defs.h"
#include "../motor/syn_dc_motor.h"
#include "../motor/syn_motor_ctrl.h"
#include <stdbool.h>

Classes¶

Type	Name
struct	SYN_Actuator Linear actuator instance — motor controller + stroke mapping.
struct	SYN_Actuator_Config Actuator configuration.

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
bool	syn_actuator_at_target (const SYN_Actuator * act) Check if actuator has reached its target.
bool	syn_actuator_is_stalled (const SYN_Actuator * act) Check if stalled.
int16_t	syn_actuator_position (const SYN_Actuator * act) Get current position (0-1000, i.e. 0.0-100.0%).

Detailed Description¶

Wraps motor_ctrl + sensor into a turnkey position-controlled linear actuator. The potentiometer reading is mapped to a percentage position (0.0% – 100.0%, stored as 0–1000).

Usage:

static SYN_Actuator act;
static SYN_DCMotor motor;
static SYN_ADC pot_adc;

SYN_Actuator_Config cfg = {
    .dc_motor    = &motor,
    .read_pos    = my_pot_read,     // returns ADC value
    .read_ctx    = &pot_adc,
    .stroke_min  = 100,             // ADC at fully retracted
    .stroke_max  = 3900,            // ADC at fully extended
    .update_hz   = 50,
};
syn_actuator_init(&act, &cfg);
syn_actuator_set_position(&act, 500);  // move to 50.0%

// In your loop:
syn_actuator_update(&act);

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 syn_actuator_at_target¶

Check if actuator has reached its target.

static inline bool syn_actuator_at_target (
    const SYN_Actuator * act
)

Parameters:

act Actuator.

Returns:

true if within ±0.5% of target.

function syn_actuator_is_stalled¶

Check if stalled.

static inline bool syn_actuator_is_stalled (
    const SYN_Actuator * act
)

Parameters:

act Actuator.

Returns:

true if motor is stalled.

function syn_actuator_position¶

Get current position (0-1000, i.e. 0.0-100.0%).

static inline int16_t syn_actuator_position (
    const SYN_Actuator * act
)

Parameters:

act Actuator.

Returns:

Position in 0.1% units.

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