Prepare files for public release

include/actuators/Actuator.h

@@ -0,0 +1,28 @@
+
+#ifndef CONTROL_ACTUATOR_H
+#define CONTROL_ACTUATOR_H
+
+#include <cstdint>
+
+#include "Module.h"
+#include "flatbuffers_generated/RobotModule_generated.h"
+#include "flatbuffers_generated/TopologyMessage_generated.h"
+
+class Actuator : public Module {
+  public:
+    explicit Actuator(uint8_t device_id) : Module(device_id) {};
+
+    Actuator(uint8_t device_id, ModuleType module_type) : Module(device_id, module_type) {};
+
+    Actuator(uint8_t device_id, ModuleType module_type, Messaging::ConnectionType connection_type,
+             uint8_t leader)
+        : Module(device_id, module_type, connection_type, leader) {};
+
+  protected:
+    virtual std::vector<uint8_t> get_actuation_message() = 0;
+
+  private:
+    [[noreturn]] void actuator_tx_loop();
+};
+
+#endif // CONTROL_MODULE_H

include/actuators/BoundedPositionalActuator1D.h

@@ -0,0 +1,37 @@
+//
+// Created by Johnathon Slightham on 2025-11-13.
+//
+
+#ifndef CONTROL_BOUNDED1DPOSITIONALACTUATOR_H
+#define CONTROL_BOUNDED1DPOSITIONALACTUATOR_H
+
+#include "actuators/Actuator.h"
+#include "flatbuffers/AngleControlMessageBuilder.h"
+#include "flatbuffers/SensorMessageBuilder.h"
+
+class BoundedPositionalActuator1D : public Actuator {
+
+  public:
+    BoundedPositionalActuator1D(uint8_t device_id, ModuleType type, double max_value,
+                                double min_value, double initial_position)
+        : Actuator(device_id, type), m_target_position(initial_position), m_max_value(max_value),
+          m_min_value(min_value),
+          acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {
+    }
+
+    double get_position() override;
+    void actuate(double position) override;
+    void actuate(double x, double y) override; // no-op
+
+    std::vector<uint8_t> get_actuation_message() override;
+    void update_sensor_data(const Flatbuffers::sensor_value &value) override;
+
+  private:
+    double m_current_position = 0;
+    double m_target_position;
+    double m_max_value;
+    double m_min_value;
+    std::unique_ptr<Flatbuffers::AngleControlMessageBuilder> acm_builder;
+};
+
+#endif // CONTROL_1DPOSITIONALACTUATOR_H

include/actuators/PositionalActuator1D.h

@@ -0,0 +1,34 @@
+//
+// Created by Johnathon Slightham on 2025-11-13.
+//
+
+#ifndef CONTROL_1DPOSITIONALACTUATOR_H
+#define CONTROL_1DPOSITIONALACTUATOR_H
+
+#include "actuators/Actuator.h"
+#include "flatbuffers/AngleControlMessageBuilder.h"
+#include "flatbuffers/SensorMessageBuilder.h"
+
+class PositionalActuator1D final : public Actuator {
+
+  public:
+    PositionalActuator1D(uint8_t device_id, ModuleType type)
+        : Actuator(device_id, type),
+          m_acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {};
+
+    double get_position() override;
+    void actuate(double position) override;
+    void actuate(double x, double y) override; // no-op
+
+    std::vector<uint8_t> get_actuation_message() override;
+    void update_sensor_data(const Flatbuffers::sensor_value &value) override;
+
+  private:
+    void update_loop();
+    double m_target_position = 0;
+    double m_current_position = 0;
+    double m_board_target_position = 0;
+    std::unique_ptr<Flatbuffers::AngleControlMessageBuilder> m_acm_builder;
+};
+
+#endif // CONTROL_1DPOSITIONALACTUATOR_H