Reading settings from stepper as well

hal/stepper.cpp

@@ -24,29 +24,35 @@ namespace simon {
     {
       auto j_set = json::parse(read_file("settings.json"));
       a4988::a4988_settings_t a4988_set = {0};
-      if (!j_set["motors"].is_array()) {
-        std::cout << "Expected an array in the configuration below \"motors\"." << "\n";
+      if (!j_set["axis_configurations"].is_array()) {
+        std::cout << "Expected an array in the configuration below \"axis_configurations\"." << "\n";
         // TODO: Throw exception
       }
       int ind = 0;
-      for (auto& motor : j_set["motors"]) {
+      for (auto& j_axis_conf : j_set["axis_configurations"]) {
         ind++;
-        if (motor["id"].is_string()) {
-          if (motor["id"] == axis) {
+        if (j_axis_conf["id"].is_string()) {
+          if (j_axis_conf["id"] == axis) {
             a4988::a4988_settings_t a = {
               // TODO: Do more sanizing before retrieving this data
-              .gpio_en = motor["a4988"]["gpio_en"],
-              .gpio_step = motor["a4988"]["gpio_step"],
-              .gpio_dir = motor["a4988"]["gpio_dir"],
-              .gpio_microsteps = motor["a4988"]["microsteps"]
+              .gpio_en = j_axis_conf["a4988"]["gpio_en"],
+              .gpio_step = j_axis_conf["a4988"]["gpio_step"],
+              .gpio_dir = j_axis_conf["a4988"]["gpio_dir"],
+              .gpio_microsteps = j_axis_conf["a4988"]["microsteps"]
             };
             auto a_ptr = std::make_unique<a4988::a4988_settings_t>(a);
             m_ptr_a4988 = std::make_unique<a4988::c_allegro_4988>(std::move(a_ptr));
+            settings_t s = {
+               // TODO: Do more sanizing before retrieving this data
+              .gear_reduction = j_axis_conf["stepper"]["gear_reduction"],
+              .steps_per_revolution = j_axis_conf["stepper"]["steps_per_revolution"]
+            };
+            m_stepper = s;
             break;
           }
         } else {
           // TODO:Throw exception
-          std::cerr << "Expected a string in the configuration below [\"motors\"][" << ind << "][\"id\"]\n";
+          std::cerr << "Expected a string in the configuration below [\"axis_configurations\"][" << ind << "][\"id\"]\n";
         }
       }
       std::thread t1(std::bind(&a4988::c_allegro_4988::run, &(*m_ptr_a4988)));

settings.json

@@ -1,5 +1,5 @@
 {
-  "motors": [
+  "axis_configurations": [
     {
       "stepper": {
         "gear_reduction": 64.0,