#include <iostream>
#include <include/a4988.h>
#include <thread>
#include <functional>
#include <memory>

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
    }
  };
  c_allegro_4988 a4988(&a4988_set);
  auto move(std::make_shared<c_move>());
  move->steps = 32768;
  move->dir = true;
  move->period_us = 1000;
  auto cmd = std::static_pointer_cast<c_cmd>(move);
  std::thread t1(std::bind(&c_allegro_4988::run, &a4988));
  a4988.post(cmd);
  t1.join();
  std::cout << "Hello camera" << std::endl;
  return 0;
}