#ifndef INCLUDED_HAL_STEPPER
#define INCLUDED_HAL_STEPPER

#include <include/a4988.h>

namespace simon {
  namespace stepper {

    typedef struct {
      float gear_reduction;
      float steps_per_revolution;
    } settings_t;

    class c_stepper
    {
      public:
        c_stepper(const std::string& axis);
      private:
        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
} // namespace simon

#endif /*INCLUDED_HAL_STEPPER*/