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    def _movement_worker(self):
        """Worker thread to process movement queue"""
        while True:
            try:
                target_bin = self.movement_queue.get()
                if not self.is_calibrated:
                    self.calibrate()
                
                # Get target position in degrees
                target_position = self.positions[target_bin]
                
                # Calculate required movement
                steps, direction = self._calculate_steps(target_position)
                
                # Execute movement
                self._move_motor(steps, direction)
                
                # Update current position
                self.current_position = target_position
                print(f"Moved to {target_bin} at position {target_position}")
                
                # After movement is complete, rotate servo and measure fill level
                self.hardware.rotate_and_measure(target_bin)
                
                self.movement_queue.task_done()
                
            except Exception as e:
                print(f"Error in movement worker: {e}")
                continue