From 3493020ce91d38c8d84ea7b7487fab849e23be77 Mon Sep 17 00:00:00 2001
From: Maximilian Stiefel <stiefel.maximilian@online.de>
Date: Sat, 20 Feb 2021 23:56:09 +0100
Subject: [PATCH] Minor changes to wrap up stepper activities

---
 hal/stepper.cpp   | 10 ++++++----
 include/stepper.h |  2 +-
 main.cpp          | 22 ++--------------------
 3 files changed, 9 insertions(+), 25 deletions(-)

diff --git a/hal/stepper.cpp b/hal/stepper.cpp
index 536d9d6..57988ea 100644
--- a/hal/stepper.cpp
+++ b/hal/stepper.cpp
@@ -8,9 +8,9 @@
 
 namespace simon {
   namespace stepper {
-    c_stepper::c_stepper(const std::string& axis)
+    c_stepper::c_stepper(const std::string& axis, const std::string& fname)
     {
-      auto file_content = read_file("settings.json");
+      auto file_content = read_file(fname);
       auto j_set = json::parse(file_content);
       if (!j_set["axis_configurations"].is_array()) {
         std::cout << "Expected an array in the configuration below \"axis_configurations\"." << "\n";
@@ -18,8 +18,10 @@ namespace simon {
       }
       extract_settings(j_set, axis);
       m_thread = std::thread(std::bind(&a4988::c_allegro_4988::run, &(*m_ptr_a4988)));
-      rotate(180);
-      rotate(-180);
+      for (int i=0; i<10; i++) {
+        rotate(90);
+        rotate(-90);
+      }
       m_ptr_a4988->kill();
       m_thread.join();
     }
diff --git a/include/stepper.h b/include/stepper.h
index c627f2e..8d48264 100644
--- a/include/stepper.h
+++ b/include/stepper.h
@@ -19,7 +19,7 @@ namespace simon {
     class c_stepper
     {
       public:
-        c_stepper(const std::string& axis);
+        c_stepper(const std::string& axis, const std::string& fname);
         float rotate(const float& degrees);
       private:
         settings_t m_stepper;
diff --git a/main.cpp b/main.cpp
index 050802b..bdc7df7 100644
--- a/main.cpp
+++ b/main.cpp
@@ -4,25 +4,7 @@
 int main()
 {
   using namespace simon;
-/*  a4988::a4988_settings_t a4988_set{
-    .gpio_en = 17,
-    .gpio_step = 18,
-    .gpio_dir = 22,
-    .gpio_microsteps{
-      true, true, true
-    }
-  };
-  stepper::settings_t stepper_set{
-    .gear_reduction = 64.0f,
-    .steps_per_revolution = 32.0f
-  };
-  c_allegro_4988 a4988(&a4988_set);
-  std::thread t1(std::bind(&c_allegro_4988::run, &a4988));
-  a4988.post_move(32768, true, 100);
-  a4988.kill();
-  t1.join();
-*/
-  stepper::c_stepper("azimuth");
-  std::cout << "Hello camera" << std::endl;
+  stepper::c_stepper("azimuth", "settings.json");
+  std::cout << "Hello camera :*" << std::endl;
   return 0;
 }