From 5d0534df47119192b6c5c0412c0d9d2792bf3a54 Mon Sep 17 00:00:00 2001
From: Maximilian Stiefel <stiefel.maximilian@online.de>
Date: Sun, 7 Feb 2021 21:58:04 +0100
Subject: [PATCH] Beginning of bigger refactoring process

---
 hal/stepper.cpp   | 11 +++++++++++
 include/a4988.h   |  2 +-
 include/stepper.h | 27 +++++++++++++++++++++++++++
 main.cpp          | 12 ++++++++++--
 4 files changed, 49 insertions(+), 3 deletions(-)
 create mode 100644 hal/stepper.cpp
 create mode 100644 include/stepper.h

diff --git a/hal/stepper.cpp b/hal/stepper.cpp
new file mode 100644
index 0000000..d59b085
--- /dev/null
+++ b/hal/stepper.cpp
@@ -0,0 +1,11 @@
+#include<include/stepper.h>
+namespace simon {
+  namespace stepper {
+    c_stepper::c_stepper(const settings_t* const stepper_set,
+                         a4988::a4988_settings_t* a4988_set)
+      : m_set(stepper_set), m_a4988(a4988_set)
+    {
+
+    }
+  }
+}
diff --git a/include/a4988.h b/include/a4988.h
index 81e8d67..a2981cc 100644
--- a/include/a4988.h
+++ b/include/a4988.h
@@ -60,7 +60,7 @@ namespace simon {
     class c_allegro_4988
     {
       public:
-        c_allegro_4988(a4988_settings_t* set);
+        explicit c_allegro_4988(a4988_settings_t* set);
         int enable(void);
         int disable(void);
         void kill(void);
diff --git a/include/stepper.h b/include/stepper.h
new file mode 100644
index 0000000..b281242
--- /dev/null
+++ b/include/stepper.h
@@ -0,0 +1,27 @@
+#ifndef INCLUDED_HAL_STEPPER
+#define INCLUDED_HAL_STEPPER
+
+#include <include/a4988.h>
+
+namespace simon {
+  namespace stepper {
+
+    typedef struct {
+      const float gear_reduction;
+      const float steps_per_revolution;
+    } settings_t;
+
+    class c_stepper
+    {
+      public:
+        c_stepper(const settings_t* const stepper_set,
+                  a4988::a4988_settings_t* a4988_set);
+      private:
+        const settings_t* const  m_set;
+        a4988::c_allegro_4988 m_a4988;
+    };
+
+  } // namespace stepper
+} // namespace simon
+
+#endif /*INCLUDED_HAL_STEPPER*/
diff --git a/main.cpp b/main.cpp
index 61946cf..e7658ae 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,13 +1,14 @@
 #include <iostream>
 #include <include/a4988.h>
+#include <include/stepper.h>
 #include <thread>
 #include <functional>
 #include <memory>
 
 int main()
 {
-  using namespace simon::a4988;
-  a4988_settings_t a4988_set{
+  using namespace simon;
+  a4988::a4988_settings_t a4988_set{
     .gpio_en = 17,
     .gpio_step = 18,
     .gpio_dir = 22,
@@ -15,11 +16,18 @@ int main()
       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(&stepper_set, &a4988_set);
   std::cout << "Hello camera" << std::endl;
   return 0;
 }