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After the navigator plotted the course, the helmsman implemented those co-ordinates into the ship's computers, controlling the ship's speed and attitude. Aboard the USS Enterprise, the person at this position was also responsible for the ship's offensive and defensive systems.
The term "helmsman" was sometimes used generally for a person responsible for ship's speed and attitude. Aboard the Enterprise (NX-01), there was a single helm station, but it remained unclear whether there was a separate or integrated navigation station. (ENT: "Broken Bow", et al)
By the 24th century, the flight controller position was responsible for both helm and navigation functions, while tactical and operations positions handled offensive and defensive capabilities. (TNG: "Encounter at Farpoint", et al)