File syn_actuator.h¶

File List > motor > syn_actuator.h
#ifndef SYN_ACTUATOR_H
#define SYN_ACTUATOR_H

#include "../common/syn_defs.h"
#include "../motor/syn_dc_motor.h"
#include "../motor/syn_motor_ctrl.h"

#include <stdbool.h>

#ifdef __cplusplus
extern "C" {
#endif

/* ── Configuration ──────────────────────────────────────────────────────── */

typedef struct {
    /* Motor */
    SYN_DCMotor *dc_motor; 
    /* Position feedback */
    SYN_MotorCtrl_ReadPos read_pos; 
    void *read_ctx;                 
    int32_t stroke_min;             
    int32_t stroke_max;             
    /* Control */
    uint16_t update_hz; 
    int32_t pid_kp;     
    int32_t pid_ki;     
    int32_t pid_kd;     
    uint8_t pid_scale;  
    int32_t deadband;   
    /* Safety */
    uint16_t stall_timeout_ms; 
    int32_t stall_threshold;   
    SYN_ErrLog *errlog;        
} SYN_Actuator_Config;

/* ── Actuator instance ──────────────────────────────────────────────────── */

typedef struct {
    SYN_MotorCtrl ctrl;   
    int32_t stroke_min;   
    int32_t stroke_max;   
    int32_t stroke_range; 
    int16_t target_pct;   
    int16_t current_pct;  
} SYN_Actuator;

/* ── API ────────────────────────────────────────────────────────────────── */

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

void syn_actuator_set_position(SYN_Actuator *act, int16_t pct_x10);

int16_t syn_actuator_update(SYN_Actuator *act);

void syn_actuator_stop(SYN_Actuator *act);

static inline int16_t syn_actuator_position(const SYN_Actuator *act)
{
    return act->current_pct;
}

static inline bool syn_actuator_at_target(const SYN_Actuator *act)
{
    int16_t diff = act->target_pct - act->current_pct;
    if (diff < 0)
        diff = (int16_t)(-diff);
    return diff <= 5; /* ±0.5% tolerance */
}

static inline bool syn_actuator_is_stalled(const SYN_Actuator *act)
{
    return act->ctrl.state == SYN_MCTRL_STALLED;
}

void syn_actuator_clear_stall(SYN_Actuator *act);

#ifdef __cplusplus
}
#endif

#endif /* SYN_ACTUATOR_H */