Controller Class Reference

Handles logic for object detection and movement calculations. More...

#include <controller.h>

Public Member Functions
Lifecycle Management
	Controller (BaseMovementManager &movement_manager, BaseDetectionModule &detection_module, Joystick &joystick, Camera &camera)
	Construct a new Controller object.
	~Controller ()
	Destroy the Controller object.
Core Execution
void	run ()
	Main processing cycle for the turret system.
const std::tuple< MoveX, MoveY >	user_mode () const

Detailed Description

Handles logic for object detection and movement calculations.

The Controller implements a State-Driven architecture. It acts as the bridge between the Computer Vision pipeline and the physical servos.

• Control Arbitration Logic:
• AI_MODE: The controller requests a frame from the Camera, passes it to the BaseDetectionModule, and calculates the error vector to center the target.
• USER_MODE: The controller bypasses the CV pipeline and maps Joystick input directly to the BaseMovementManager.

Constructor & Destructor Documentation

Controller()

Controller::Controller ( BaseMovementManager & movement_manager, BaseDetectionModule & detection_module, Joystick & joystick, Camera & camera )

inline

Construct a new Controller object.

Parameters

movement_manager	Reference to the movement implementation.
detection_module	Reference to the detection implementation.
joystick	Reference to the Joystick input handler.
camera	Reference to the Camera object.

Note

Defaults to AI_MODE upon initialization.

~Controller()

Controller::~Controller ( )

inline

Destroy the Controller object.

Ensures the turret is safely parked and motor signals are neutralized.

Member Function Documentation

run()

void Controller::run

(

)

Main processing cycle for the turret system.

This method should be called inside the primary loop() of the application.

• Workflow:

1. Check current SystemControl state.
2. If USER_MODE:

• Poll _joystick for X/Y offsets.
• Call _movement_manager.move().

1. If AI_MODE:

• Capture frame from _camera.
• Perform inference via _detection_module.
• Translate target coordinates to motor pulses.

• Warning

  This function is blocking relative to the frame-rate of the camera.

THIS is my problem and I need to find a way to solve it, too tired though :X

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The documentation for this class was generated from the following files:

• lib/controller/include/controller.h
• lib/controller/src/controller.cpp