text: // Copyright (c) 2021 <OpenVent-Bristol, Donald Robson>
  
  #ifndef ACTUATOR_PRIV_H
  #define ACTUATOR_PRIV_H
  
  #include <stdint.h>
  
  #define UPDATE_INTERVAL_MS  (5u)
  
  #define CONSTANT_SPEED_CAP  (63u)
  #define ACCELERATION_CAP    (2) // PWM duty change per millisecond
  
  enum actuator_mode
  {
    STOP,
    PUSHING,
    PUSHING_PID,
    HOMING,
    FAULT
  };
  
  typedef struct
  {
    enum actuator_mode mode;
    uint8_t current_speed;
    uint8_t target_speed;
  } actuator_t;
  
  #endif /* ACTUATOR_PRIV_H */
  