Introduced rotate function

drivers/a4988.cpp

@@ -119,5 +119,9 @@ namespace simon {
     m_pwm_freq = pwm_freq;
     return 0;
   }
+  unsigned c_allegro_4988::get_microsteps(void)
+  {
+    return m_ptr_set->gpio_microsteps;
+  }
  } // namespace a4988
 } // namespace simon

hal/stepper.cpp

@@ -3,6 +3,8 @@
 #include <functional>
 #include <iostream>
 #include <fstream>
+#include <memory>
+#include <cmath>
 
 namespace simon {
   namespace stepper {
@@ -16,7 +18,8 @@ namespace simon {
       }
       extract_settings(j_set, axis);
       m_thread = std::thread(std::bind(&a4988::c_allegro_4988::run, &(*m_ptr_a4988)));
-      m_ptr_a4988->post_move(32768, true, 100);
+      rotate(180);
+      rotate(-180);
       m_ptr_a4988->kill();
       m_thread.join();
     }
@@ -41,7 +44,8 @@ namespace simon {
             m_stepper = {
                // TODO: Do more sanitizing before retrieving this data
               .gear_reduction = j_axis_conf["stepper"]["gear_reduction"],
-              .steps_per_revolution = j_axis_conf["stepper"]["steps_per_revolution"]
+              .steps_per_revolution = j_axis_conf["stepper"]["steps_per_revolution"],
+              .clockwise = j_axis_conf["stepper"]["clockwise"]
             };
             break;
           }
@@ -66,5 +70,17 @@ namespace simon {
       }
       return jstring;
     }
+
+    float c_stepper::rotate(const float& degrees)
+    {
+      auto steps_360 =  m_stepper.gear_reduction
+                      * m_stepper.steps_per_revolution
+                      * static_cast<float>(m_ptr_a4988->get_microsteps());
+      auto steps = static_cast<unsigned>((std::abs(degrees)/360.0f) * steps_360);
+      bool direction = (degrees < 0) ? !m_stepper.clockwise : m_stepper.clockwise;
+      std::cout << "dir >" << direction << std::endl;
+      m_ptr_a4988->post_move(steps, direction, 100);
+      return steps;
+    }
   }
 }

include/a4988.h

@@ -68,6 +68,7 @@ namespace simon {
         void post_move(const unsigned steps, const bool dir,
                        const unsigned period_us);
         void run(void);
+        unsigned get_microsteps(void);
       private:
         std::unique_ptr<a4988_settings_t> m_ptr_set;
         bool m_initialized;

include/stepper.h

@@ -13,12 +13,14 @@ namespace simon {
     typedef struct {
       float gear_reduction;
       float steps_per_revolution;
+      bool clockwise;
     } settings_t;
 
     class c_stepper
     {
       public:
         c_stepper(const std::string& axis);
+        float rotate(const float& degrees);
       private:
         settings_t m_stepper;
         std::unique_ptr<a4988::c_allegro_4988> m_ptr_a4988;

settings.json

@@ -3,7 +3,8 @@
     {
       "stepper": {
         "gear_reduction": 64.0,
-        "steps_per_revolution": 32
+        "steps_per_revolution": 32,
+        "clockwise" : true
       },
       "a4988": {
         "microsteps": 16,