From 10b2bd7cf6762db01a0fc6bdc505aa21395a8634 Mon Sep 17 00:00:00 2001
From: Julien Oculi <xdrz.jot.sr@gmail.com>
Date: Wed, 11 Jun 2025 14:36:01 +0200
Subject: [PATCH] feat: add a destructor for `Turret` to diasble steppers and
 lasers

---
 turret.cpp | 10 ++++++++++
 turret.h   |  1 +
 2 files changed, 11 insertions(+)

diff --git a/turret.cpp b/turret.cpp
index fde2d4e..fc570ed 100644
--- a/turret.cpp
+++ b/turret.cpp
@@ -1,4 +1,5 @@
 #include "turret.h"
+#include "Arduino.h"
 #include "maths.h"
 #include <kissStepper.h>
 
@@ -17,6 +18,15 @@ Turret::Turret(StepRatio step_ratio, Offset offset, PinMap pin_map_x,
   _offset = offset;
 }
 
+Turret::~Turret() {
+  _stepper.x.stop();
+  _stepper.x.disable();
+  _stepper.y.stop();
+  _stepper.y.disable();
+  digitalWrite(_pin.x.laser, LOW);
+  digitalWrite(_pin.y.laser, LOW);
+}
+
 Turret &Turret::init() {
   pinMode(_pin.x.laser, OUTPUT);
   pinMode(_pin.y.laser, OUTPUT);
diff --git a/turret.h b/turret.h
index 07de1fc..e5cefb5 100644
--- a/turret.h
+++ b/turret.h
@@ -40,6 +40,7 @@ public:
 
   Turret(StepRatio step_ratio, Offset offset, PinMap pin_map_x,
          PinMap pin_map_y);
+  ~Turret();
 
   Turret &init();
   Turret &gotoHome();