movement_manager.h

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#pragma once
 
#include "base_movement_manager.h"
#include <ESP32Servo.h>
#include <Stepper.h>
 
const int SERVO_MIN_ANGLE = 0;
const int SERVO_MAX_ANGLE = 180;
 
class MovementManager : public BaseMovementManager
{
private:
    Stepper& _stepper;
 
    Servo& _servo;
 
    static constexpr int _SERVO_INCREMENT = 5;
    static constexpr int _STEP_INCREMENT = 5;
    static constexpr int _STEPPER_SPEED = 10;
 
public:
    MovementManager(Stepper& stepper, Servo& servo) : _stepper(stepper), _servo(servo)
    {
        this->_stepper.setSpeed(this->_STEPPER_SPEED);
    }
 
    virtual void move_relative(const std::tuple<MoveX, MoveY> move_directions);
 
    void move_stepper(const MoveX yaw_direction);
 
    void move_servo(const MoveY pitch_direction);
};