Turret Class Reference

Non-blocking turret: callers post commands, a 1 kHz motor task executes them. More...

#include <turret.h>

Inheritance diagram for Turret:

Public Member Functions
	Turret (Servo &servo)
bool	begin ()
	Configure pins (coils LOW), attach the servo at home tilt and start the motor task.
void	set_target_deg (const aiming::Angles &target) override
	Move to absolute angles (clamped to the soft limits).
void	jog (float pan, float tilt) override
	Manual velocity, each axis -1..1 of its max speed; 0,0 stops (with deceleration).
void	home () override
	Same as set_target_deg({0, home tilt}).
aiming::Angles	position_deg () const override
	Current angles (pan from the step counter, tilt as last written to the servo).
float	pan_speed () const override
	Current stepper speed, steps/s (signed).
uint32_t	late_ticks () const
	Count of late wake-ups (lag of more than 1 tick) where missed 1 ms ticks were dropped.
uint32_t	stack_free () const
	Minimum free stack of the motor task seen so far, in bytes (high-water mark, sampled every 1000 ticks; 0 until the first sample).
Public Member Functions inherited from BaseTurret

Detailed Description

Non-blocking turret: callers post commands, a 1 kHz motor task executes them.

Why a task: the Arduino stepper library blocks for the whole move (about 15 ms per command), which stalled frame detection in loop(). Here loop() only writes a small command mailbox; the motor task (core 0, priority 7) ticks an aiming::StepPlanner every millisecond, drives the four ULN2003 coil pins itself and moves the servo at 50 Hz with a rate limit. Why the coils are released: a 28BYJ-48 held energized at standstill draws current continuously and heats up, so all four pins go LOW 500 ms after the last step. Its gear train holds the position unpowered. Thread safety: the mailbox and the published state each sit in a vsync::SpinGuarded (own portMUX spinlock); critical sections only copy a few words.

Constructor & Destructor Documentation

Turret()

Turret::Turret ( Servo & servo )

explicit

Parameters

servo

Servo object used for tilt (attached by begin()).

Member Function Documentation

begin()

bool Turret::begin

(

)

Configure pins (coils LOW), attach the servo at home tilt and start the motor task.

Returns

false if the task could not be created. Idempotent: returns true if already running.

home()

void Turret::home ( )

overridevirtual

Same as set_target_deg({0, home tilt}).

Implements BaseTurret.

jog()

void Turret::jog ( float pan, float tilt )

overridevirtual

Manual velocity, each axis -1..1 of its max speed; 0,0 stops (with deceleration).

Implements BaseTurret.

pan_speed()

float Turret::pan_speed ( ) const

overridevirtual

Current stepper speed, steps/s (signed).

Implements BaseTurret.

position_deg()

aiming::Angles Turret::position_deg ( ) const

overridevirtual

Current angles (pan from the step counter, tilt as last written to the servo).

Implements BaseTurret.

set_target_deg()

void Turret::set_target_deg ( const aiming::Angles & target )

overridevirtual

Move to absolute angles (clamped to the soft limits).

Implements BaseTurret.

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

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