actuator.h

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//                                                                            //
//  Copyright (c) 2016-2025 Leonardo Consoni <leonardojc@protonmail.com>      //
//                                                                            //
//  This file is part of RobotSystem-Lite.                                    //
//                                                                            //
//  RobotSystem-Lite is free software: you can redistribute it and/or modify  //
//  it under the terms of the GNU Lesser General Public License as published  //
//  by the Free Software Foundation, either version 3 of the License, or      //
//  (at your option) any later version.                                       //
//                                                                            //
//  RobotSystem-Lite is distributed in the hope that it will be useful,       //
//  but WITHOUT ANY WARRANTY; without even the implied warranty of            //
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the              //
//  GNU Lesser General Public License for more details.                       //
//                                                                            //
//  You should have received a copy of the GNU Lesser General Public License  //
//  along with RobotSystem-Lite. If not, see <http://www.gnu.org/licenses/>.  //
//                                                                            //
 


 
 
#ifndef ACTUATOR_H
#define ACTUATOR_H 
 
#include "robot_control/robot_control.h"
 
#include <stdbool.h>
 
typedef struct _ActuatorData ActuatorData;      
typedef ActuatorData* Actuator;                 
 
                                                                  
Actuator Actuator_Init( const char* configName );

void Actuator_End( Actuator actuator );

bool Actuator_Enable( Actuator actuator );
                                                                  
void Actuator_Disable( Actuator actuator );

bool Actuator_SetControlState( Actuator actuator, enum ControlState controlState );

bool Actuator_GetMeasures( Actuator actuator, DoFVariables* ref_measures, double timeDelta );

double Actuator_SetSetpoints( Actuator actuator, DoFVariables* ref_setpoints );
 
 
#endif // ACTUATOR_H