text: #include <stdint.h>
  #include <stdbool.h>
  #include <stdio.h>
  
  #include <stm32l4xx_hal.h>
  
  #include <board_driver/uart.h>
  #include <shield_driver/mainboard/actuator.h>
  
  int main(void) {
  	uart_init(DEV_DEBUG_UART);
  	printf("uart init complete\n");
  
  	HAL_Delay(100);
  
  	init_actuator();
  	printf("actuator init complete\n");
  
  	HAL_Delay(5);
  
  	while(1) {
  		printf("actuator forward start\n");
  		actuator_forward_start();
  
  		HAL_Delay(20);
  
  		printf("actuator forward stop\n");
  		actuator_forward_stop();
  
  		uint32_t start = HAL_GetTick();
  		uint32_t last_print = 0;
  
  		while (HAL_GetTick() - start < 5000) {
  			if (HAL_GetTick() - last_print > 500) {
  				printf("waiting\n");
  				last_print = HAL_GetTick();
  			}
  		}
  
  		printf("actuator backward start\n");
  		actuator_backward_start();
  
  		HAL_Delay(20);
  
  		printf("actuator backward stop\n");
  		actuator_backward_stop();
  
  		start = HAL_GetTick();
  		last_print = 0;
  
  		while (HAL_GetTick() - start < 5000) {
  			if (HAL_GetTick() - last_print > 500) {
  				printf("waiting\n");
  				last_print = HAL_GetTick();
  			}
  		}
  	}
  }
  