PWM based motor driver added from other project

main/watch_main.cpp

@@ -29,6 +29,7 @@
 // Component header
 #include "Task.hpp"
 #include "PwmExpanderPca9685.hpp"
+#include "StepperDrv8833.hpp"
 
 static const char *TAG = "Watch";
 static esp_eth_handle_t s_eth_handle = NULL;
@@ -114,8 +115,8 @@ void LightingTask() {
     ESP_LOGI(TAG, "Start Lighting");
 
     static I2cMaster master(I2C_NUM_0, 
-        /*sda=*/ GPIO_NUM_13, 
-        /*scl=*/ GPIO_NUM_16);
+        /*sda=*/ GPIO_NUM_0, 
+        /*scl=*/ GPIO_NUM_4);
     // static PmwExpanderPca9685 pca9685(master);
     static PmwExpanderPca9685 ledDriver1(master, /*iverted=*/ true);
     static PmwExpanderPca9685 ledDriver2(master, /*iverted=*/ true, 0x41); 
@@ -139,6 +140,25 @@ void LightingTask() {
     }
 }
 
+void MovementTask() {
+    ESP_LOGI(TAG, "Start Stepper");
+    constexpr int MicroSteps = 32;
+    StepperDriverDrv8833::Pins stepperPins{
+        LEDC_TIMER_0,
+        {LEDC_CHANNEL_0, LEDC_CHANNEL_1, LEDC_CHANNEL_2, LEDC_CHANNEL_3},
+        {GPIO_NUM_16, GPIO_NUM_15, GPIO_NUM_14, GPIO_NUM_13},
+    };
+    StepperDriverDrv8833 stepperDriver(stepperPins, MicroSteps);
+    stepperDriver.setPos(0);
+
+    while (true) {
+        stepperDriver.step(1);
+        stepperDriver.getSubPos();
+        fos::Task::delayMs(100);
+    }
+}
+
+
 void app_main(void)
 {
     esp_err_t ret = nvs_flash_init();
@@ -150,4 +170,5 @@ void app_main(void)
     // ESP_ERROR_CHECK(esp_event_loop_create_default());
     initialize_ethernet();
     static fos::Task lightingTask(LightingTask, "Lights", 0x4000uL);
+    static fos::Task movementTask(MovementTask, "Motor", 0x4000uL);
 }