#include<include/stepper.h>
#include <thread>
#include <functional>

namespace simon {
  namespace stepper {
    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();
    }
  }
}