void-sentry-esp32/base__turret_8h_source.html

#pragma once


#include "aim_map.h"


class BaseTurret

{

public:

    virtual ~BaseTurret() = default;

    virtual void set_target_deg(const aiming::Angles& target) = 0;

    virtual void jog(float pan, float tilt) = 0;

    virtual void home() = 0;

    virtual aiming::Angles position_deg() const = 0;

    virtual float pan_speed() const = 0;

};


aim_map.h
Maps a target's image position to turret angles (pure C++20, natively tested).

BaseTurret
Definition base_turret.h:11

BaseTurret::set_target_deg
virtual void set_target_deg(const aiming::Angles &target)=0
Move to absolute angles (clamped to the soft limits).

BaseTurret::pan_speed
virtual float pan_speed() const =0
Current stepper speed, steps/s (signed).

BaseTurret::position_deg
virtual aiming::Angles position_deg() const =0
Current angles (pan from the step counter, tilt as last written to the servo).

BaseTurret::jog
virtual void jog(float pan, float tilt)=0
Manual velocity, each axis -1..1 of its max speed; 0,0 stops (with deceleration).

BaseTurret::home
virtual void home()=0
Same as set_target_deg({0, home tilt}).

aiming::Angles
Turret pose: pan degrees from home (positive = right), tilt servo degrees (larger = up).
Definition aim_map.h:30