File syn_servo.c

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Servo controller implementation.

• #include "../util/syn_assert.h"
• #include "syn_servo.h"
• #include <string.h>

Public Functions

Type	Name
void	syn_servo_init (SYN_Servo * servo, uint16_t pulse_min, uint16_t pulse_max, uint16_t angle_range) Initialize a servo.
void	syn_servo_move_to (SYN_Servo * servo, uint16_t angle, uint16_t duration) Start a smooth move to an angle.
void	syn_servo_set_angle (SYN_Servo * servo, uint16_t angle) Set servo position by angle (immediate).
void	syn_servo_set_pulse (SYN_Servo * servo, uint16_t us) Set servo position by raw pulse width (immediate).
void	syn_servo_update (SYN_Servo * servo) Update servo position for smooth movement.

Public Static Functions

Type	Name
uint16_t	angle_to_us (const SYN_Servo * s, uint16_t angle) Convert angle to pulse width in microseconds.
uint16_t	clamp_us (const SYN_Servo * s, uint16_t us) Clamp pulse width to min/max range.

Public Functions Documentation

function syn_servo_init

Initialize a servo.

void syn_servo_init (
    SYN_Servo * servo,
    uint16_t pulse_min,
    uint16_t pulse_max,
    uint16_t angle_range
) 

Parameters:

• servo Servo instance.
• pulse_min Minimum pulse width in µs (0° position).
• pulse_max Maximum pulse width in µs (max angle position).
• angle_range Full angular range in degrees.

---

function syn_servo_move_to

Start a smooth move to an angle.

void syn_servo_move_to (
    SYN_Servo * servo,
    uint16_t angle,
    uint16_t duration
) 

Parameters:

• servo Servo.
• angle Target angle.
• duration Movement duration in milliseconds.

---

function syn_servo_set_angle

Set servo position by angle (immediate).

void syn_servo_set_angle (
    SYN_Servo * servo,
    uint16_t angle
) 

Parameters:

• servo Servo handle.
• angle Angle in degrees (0 to angle_range).

---

function syn_servo_set_pulse

Set servo position by raw pulse width (immediate).

void syn_servo_set_pulse (
    SYN_Servo * servo,
    uint16_t us
) 

Parameters:

• servo Servo handle.
• us Pulse width in microseconds.

---

function syn_servo_update

Update servo position for smooth movement.

void syn_servo_update (
    SYN_Servo * servo
) 

Call periodically (e.g., every 10–20ms) while a smooth move is active.

Parameters:

• servo Servo instance.

---

Public Static Functions Documentation

function angle_to_us

Convert angle to pulse width in microseconds.

static uint16_t angle_to_us (
    const SYN_Servo * s,
    uint16_t angle
) 

Parameters:

• s Servo instance.
• angle Angle (0 to angle_range).

Returns:

Pulse width in µs.

---

function clamp_us

Clamp pulse width to min/max range.

static uint16_t clamp_us (
    const SYN_Servo * s,
    uint16_t us
) 

Parameters:

• s Servo instance.
• us Pulse width in µs.

Returns:

Clamped pulse width.

---

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