Added Lohmann's JSON lib

hal/stepper.cpp

@@ -1,11 +1,30 @@
 #include<include/stepper.h>
+#include <thread>
+#include <functional>
+
 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)
+    c_stepper::c_stepper(const std::string& axis)
+      : m_a4988(&m_a4988_set)
+/*      : m_a4988
+      {
+        .gpio_en = 17,
+        .gpio_step = 18,
+        .gpio_dir = 22,
+        .gpio_microsteps{
+          true, true, true
+      },
+      m_stepper
+      {
+        .gear_reduction = 64.0f,
+        .steps_per_revolution = 32.0f
+      }
+*/
     {
-
+      std::thread t1(std::bind(&a4988::c_allegro_4988::run, &m_a4988));
+      m_a4988.post_move(32768, true, 100);
+      m_a4988.kill();
+      t1.join();
     }
   }
 }

include/stepper.h

@@ -7,18 +7,25 @@ namespace simon {
   namespace stepper {
 
     typedef struct {
-      const float gear_reduction;
-      const float steps_per_revolution;
+      float gear_reduction;
+      float steps_per_revolution;
     } settings_t;
 
     class c_stepper
     {
       public:
-        c_stepper(const settings_t* const stepper_set,
-                  a4988::a4988_settings_t* a4988_set);
+        c_stepper(const std::string& axis);
       private:
-        const settings_t* const  m_set;
+        settings_t m_stepper;
         a4988::c_allegro_4988 m_a4988;
+        a4988::a4988_settings_t m_a4988_set = {
+          .gpio_en = 17,
+          .gpio_step = 18,
+          .gpio_dir = 22,
+          .gpio_microsteps{
+            true, true, true
+          }
+        };
     };
 
   } // namespace stepper

main.cpp

@@ -1,14 +1,10 @@
 #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{
+/*  a4988::a4988_settings_t a4988_set{
     .gpio_en = 17,
     .gpio_step = 18,
     .gpio_dir = 22,
@@ -20,14 +16,13 @@ int main()
     .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);
+  stepper::c_stepper("azimuth");
   std::cout << "Hello camera" << std::endl;
   return 0;
 }