including homing sensor

main/watchMain.cpp

@@ -26,10 +26,12 @@
 #include "ethernet_init.h"
 #include "esp_netif.h"
 #include "esp_eth.h"
+
 // Component header
 #include "Task.hpp"
 #include "PwmExpanderPca9685.hpp"
 #include "StepperDrv8833.hpp"
+#include "stepperMotor.hpp"
 
 static const char *TAG = "Watch";
 static esp_eth_handle_t s_eth_handle = NULL;
@@ -151,17 +153,31 @@ void MovementTask() {
     StepperDriverDrv8833 stepperDriver(stepperPins, MicroSteps);
     stepperDriver.setPos(0);
 
-    while (true) {
+    StepperMotor::Config stepperCfg{1.8F, MicroSteps};
+    InputPort initSens(GPIO_NUM_33);
+    initSens.setLogic(GpioPort::Logic::Inverted);
+    StepperMotor stepper(stepperCfg, stepperDriver, initSens);
+
+    int i = 0;
+    while (i++ < 80) {
         stepperDriver.step(1);
         stepperDriver.getSubPos();
         fos::Task::delayMs(100);
     }
+
+    ESP_LOGI("Stepper", "Find Home");
+    stepper.findRef();
+    ESP_LOGI(TAG, "Fist Position is %f.2", stepper.getScaledPos() * 6);
+    fos::Task::delayMs(1000);
+
+    while (true) {
+        fos::Task::delayMs(100);
+    }
 }
 
 void IoTest() 
 {
     ESP_LOGI(TAG, "Start IO");
-    InputPort in1(GPIO_NUM_33);
     InputPort in2(GPIO_NUM_32);
     InputPort mFault(GPIO_NUM_35);
 
@@ -169,7 +185,7 @@ void IoTest()
     OutputPort nReset(GPIO_NUM_5);
 
     while (true) {
-        ESP_LOGI("Light", "InValues %i %i %i", in1.read(), in2.read(), mFault.read());
+        ESP_LOGI("Light", "InValues %i %i", in2.read(), mFault.read());
         nEnable.write(true);
         nReset.write(true);
         fos::Task::delayMs(500);