Turrets

def __init__(self, seat: int, name: str, pin: int, config: dict, rgb_cb: Callable = lambda _: None):
    """
        Arguments:
            seat: controller seat
            name: Name of the control
            pin: Pin the servo is connected to
            offset: Servo offset from the zero position in degree
    """

    super().__init__(seat, name)

    self.servo: ServoHAL = ServoInvertedHAL(pin) if config["inverted"] else ServoHAL(pin)

    self.MIN_DEFLECTION += config["offset"]
    self.MAX_DEFLECTION += config["offset"]

    self.rgb_cb = rgb_cb

    logging.info(f"Turret {self.name} initialized")

async def close(self, seat: int = 0):
    """
        Cancel task to control the servo and close servo connection

        Arguments:
            seat: number of the seat
    """
    await self.reset(seat)
    self.servo.close()

async def get_direction(self, seat: int, pos: float):
    """
        Set turretposition whenn the joystick position changes

        Arguments:
            seat: number of the seat
            pos: position of the joystick between -1 and 1
    """

    range = self.MAX_DEFLECTION - self.MIN_DEFLECTION

    self._joystick_pos = (((pos * self.MAPPING_FACTOR) + 1) / 2 * range + self.MIN_DEFLECTION)
    self.rgb_cb(pos)

    logging.debug(f"Set position of Turret {self.name} to {self._joystick_pos}")

async def init(self, seat: int = 0):
    """
        Set up task to control the servo

        Arguments:
            seat: number of the seat
    """

    if self._position_task:
        if not self._position_task.cancelled:
            self._position_task.cancel()

    self._joystick_pos = ((self.MAX_DEFLECTION - self.MIN_DEFLECTION) / 2 + self.MIN_DEFLECTION)
    self._position_task = create_task(self.setPosition())
    logging.debug(f"Init servo at position {self._joystick_pos}")

async def reset(self, seat: int = 0):
    """
        Cancel task to control the servo and reset servo_pos

        Arguments:
            seat: number of the seat
    """

    if self._position_task:
        self._position_task.cancel()
        self._position_task = None

    self._servo_pos = 0
    self.servo.setPosition(0)

async def setPosition(self):
    """
        Loop to set servo position depending on the joystick position
    """

    DT = 0.002

    while True:
        self._servo_pos = self._servo_pos + (self._joystick_pos - self._servo_pos) / self.T * DT

        if self._servo_pos > self.MAX_DEFLECTION:
            self._servo_pos = self.MAX_DEFLECTION
        elif self._servo_pos < self.MIN_DEFLECTION:
            self._servo_pos = self.MIN_DEFLECTION

        self.servo.setPosition(self._servo_pos)
        await sleep(DT)