This week I finished up the code for controlling the unipolar and bipolar stepper motors. It consists of two classes, one for controlling unipolar stepper motors and one for controlling bipolar stepper motors. The code I wrote uses std::thread to set the relevant GPIO pins in a loop so that multiple motors can be controlled at once. It also implements step-counting for tracking the number of revolutions taken. The GPIO library used was WiringPi. I found this article very helpful.
Next week, I will be working on checking that the CV code can run on the Pi, allowing the CV to use camera input, and hooking it up to motor control. I will also be working with Kenny to modify his polar alignment code from earlier in the semester to work with the rest of the system.