Simon's and Max' camera steering software.
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36 lines
873 B
36 lines
873 B
#ifndef INCLUDED_HAL_STEPPER
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#define INCLUDED_HAL_STEPPER
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#include <a4988.h>
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#include <json.hpp>
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#include <thread>
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namespace simon {
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namespace stepper {
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using json = nlohmann::json;
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typedef struct {
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float gear_reduction;
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float steps_per_revolution;
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bool clockwise;
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} settings_t;
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class c_stepper
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{
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public:
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c_stepper(const std::string& axis, const std::string& fname);
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~c_stepper();
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float rotate(const float& degrees);
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private:
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settings_t m_stepper;
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std::unique_ptr<a4988::c_allegro_4988> m_ptr_a4988;
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std::thread m_driver_thread;
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private:
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std::string read_file(const std::string& fname) const;
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void extract_settings(const json& j_set, const std::string& axis);
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};
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} // namespace stepper
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} // namespace simon
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#endif /*INCLUDED_HAL_STEPPER*/
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