26 lines
548 B
C
26 lines
548 B
C
#ifndef ACTUATOR_H_
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#define ACTUATOR_H_
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#include <zephyr/device.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/drivers/counter.h>
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#include <stdbool.h>
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/* Actuator modes */
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enum actuator_mode {
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ACTUATOR_MODE_MOTOR = 0,
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ACTUATOR_MODE_SERVO,
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};
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/* Public API */
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int actuator_init(enum actuator_mode mode);
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int actuator_enable(bool enable);
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/* Motor mode */
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int actuator_motor_set_speed(int speed_percent); // -100..100 %
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/* Servo mode */
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int actuator_servo_set_angle(int angle_deg); // -90..90 degrees
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#endif /* ACTUATOR_H_ */
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