MovementManager Class Reference

Manages physical actuators for turret positioning. More...

#include <movement_manager.h>

Inheritance diagram for MovementManager:

Public Member Functions
	MovementManager (Stepper &stepper, Servo &servo)
	Construct a new Movement Manager object.
virtual void	move_relative (const std::tuple< MoveX, MoveY > move_directions)
	Implements relative movement using Stepper and Servo hardware.
void	move_stepper (const MoveX yaw_direction)
	Executes horizontal rotation (Yaw) using the stepper motor.
void	move_servo (const MoveY pitch_direction)
	Executes vertical tilting (Pitch) using the servo motor.
Public Member Functions inherited from BaseMovementManager
virtual	~BaseMovementManager ()=default
	Virtual destructor for safe polymorphic cleanup.

Detailed Description

Manages physical actuators for turret positioning.

Constructor & Destructor Documentation

MovementManager()

MovementManager::MovementManager ( Stepper & stepper, Servo & servo )

inline

Construct a new Movement Manager object.

Parameters

stepper	Reference to the initialized Stepper motor object.
servo	Reference to the initialized Servo motor object.

Member Function Documentation

move_relative()

void MovementManager::move_relative ( const std::tuple< MoveX, MoveY > move_directions )

virtual

Implements relative movement using Stepper and Servo hardware.

Translates MoveX and MoveY into actuator actions.

Parameters

x	Directional command for the stepper motor.
y	Directional command for the servo motor.

Implements BaseMovementManager.

move_servo()

void MovementManager::move_servo

(

const MoveY

pitch_direction

)

Executes vertical tilting (Pitch) using the servo motor.

Reads current servo position and adjusts it by _SERVO_INCREMENT. The final position is constrained between SERVO_MIN_ANGLE and SERVO_MAX_ANGLE to prevent mechanical stall or gear damage.

Parameters

pitch_direction

The direction to tilt (Up, Down, or None).

move_stepper()

void MovementManager::move_stepper

(

const MoveX

yaw_direction

)

Executes horizontal rotation (Yaw) using the stepper motor.

Checks the MoveX enum; if Left or Right, the stepper moves by the predefined _STEP_INCREMENT. Negative steps rotate in one direction, positive in the other.

Parameters

yaw_direction

The direction to rotate (Left, Right, or None).

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

• lib/motion/include/movement_manager.h
• lib/motion/src/movement_manager.cpp