turret.h

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#pragma once
 
#include "base_turret.h"
#include "step_planner.h"
#include "sync.h"
#include <ESP32Servo.h>
#include <cstdint>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
 
class Turret : public BaseTurret
{
public:
    explicit Turret(Servo& servo);
 
    bool begin();
 
    void set_target_deg(const aiming::Angles& target) override;
    void jog(float pan, float tilt) override;
    void home() override;
    aiming::Angles position_deg() const override;
    float pan_speed() const override;
 
    uint32_t late_ticks() const;
 
    uint32_t stack_free() const;
 
private:
    enum class CommandKind : uint8_t { None, Target, Jog, Home };
 
    struct Command {
        CommandKind kind = CommandKind::None;
        aiming::Angles target{0.0f, 0.0f};
        float jog_pan = 0.0f;
        float jog_tilt = 0.0f;
        uint32_t sequence = 0;
    };
 
    static void task_entry(void* arg);
    void run();
    void write_coils(int phase);
    void release_coils();
 
    Servo& _servo;
    TaskHandle_t _task = nullptr;
    struct Published {
        aiming::Angles position{0.0f, 90.0f};
        float speed = 0.0f;
        uint32_t late_ticks = 0;
        uint32_t stack_free = 0; 
    };
 
    vsync::SpinGuarded<Command> _command;     
    vsync::SpinGuarded<Published> _published; 
 
    // Owned by the motor task only.
    aiming::StepPlanner _planner;
    int _phase = 0;
    bool _coils_on = false;
    uint32_t _last_step_ms = 0;
    float _tilt_target = 90.0f;
    float _tilt_current = 90.0f;
    float _tilt_rate = 0.0f;
    int _servo_written = 90;
};