# `QuarterbackTurret.cpp`
## Description
## Functions
| Name | Description
|------|-------------
| `turretEncoderISR` |
| `QuarterbackTurret` |
| `action` |
| `setTurretSpeed` |
| `moveTurret` |
| `moveTurretAndWait` |
| `updateTurretMotionStatus` |
| `turretDirectionChanged` |
| `getCurrentHeading` |
| `NormalizeAngle` |
| `CalculateRotation` |
| `findNearestHeading` |
| `aimAssembly` |
| `moveAssemblySubroutine` |
| `moveCradleSubroutine` |
| `moveCradle` |
| `setFlywheelSpeed` |
| `setFlywheelSpeedStage` |
| `setFlywheelSpeedStage` |
| `adjustFlywheelSpeedStage` |
| `switchMode` |
| `switchTarget` |
| `loadFromCenter` |
| `handoff` |
| `testRoutine` |
| `zeroTurret` |
| `reset` |
| `testForDisableOrStop` |
| `setEnabled` |
| `emergencyStop` |
| `printDebug` |
| `magnetometerSetup` |
| `calibMagnetometer` |
| `calculateHeadingMag` |
| `holdTurretStill` |
| `turretPIDController` |
| `updateReadMotorValues` |
## Included Headers
- `QuarterbackTurret.h`