Simon's and Max' camera steering software.
https://stiefel.tech
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73 lines
2.1 KiB
73 lines
2.1 KiB
#include <include/stepper.h>
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#include <thread>
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#include <functional>
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#include <iostream>
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#include <fstream>
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namespace simon {
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namespace stepper {
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c_stepper::c_stepper(const std::string& axis)
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/* : m_a4988
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{
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.gpio_en = 17,
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.gpio_step = 18,
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.gpio_dir = 22,
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.gpio_microsteps{
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true, true, true
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},
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m_stepper
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{
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.gear_reduction = 64.0f,
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.steps_per_revolution = 32.0f
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}
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*/
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{
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auto j_set = json::parse(read_file("settings.json"));
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a4988::a4988_settings_t a4988_set = {0};
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if (!j_set["motors"].is_array()) {
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std::cout << "Expected an array in the configuration below \"motors\"." << "\n";
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// TODO: Throw exception
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}
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int ind = 0;
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for (auto& motor : j_set["motors"]) {
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ind++;
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if (motor["id"].is_string()) {
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if (motor["id"] == axis) {
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a4988::a4988_settings_t a = {
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// TODO: Do more sanizing before retrieving this data
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.gpio_en = motor["a4988"]["gpio_en"],
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.gpio_step = motor["a4988"]["gpio_step"],
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.gpio_dir = motor["a4988"]["gpio_dir"],
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.gpio_microsteps = motor["a4988"]["microsteps"]
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};
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auto a_ptr = std::make_unique<a4988::a4988_settings_t>(a);
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m_ptr_a4988 = std::make_unique<a4988::c_allegro_4988>(std::move(a_ptr));
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break;
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}
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} else {
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// TODO:Throw exception
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std::cerr << "Expected a string in the configuration below [\"motors\"][" << ind << "][\"id\"]\n";
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}
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}
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std::thread t1(std::bind(&a4988::c_allegro_4988::run, &(*m_ptr_a4988)));
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m_ptr_a4988->post_move(32768, true, 100);
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m_ptr_a4988->kill();
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t1.join();
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}
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std::string c_stepper::read_file(const std::string& fname) const
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{
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std::ifstream input_stream(fname);
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if (!input_stream) {
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// TODO: Throw exception here
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std::cerr << "Can't open input file!";
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}
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std::string line;
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std::string jstring;
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while (getline(input_stream, line)) {
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jstring += line;
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}
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return jstring;
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}
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}
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}
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