add working test code

movinghead/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

movinghead/.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

movinghead/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

movinghead/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

movinghead/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+
+
+[env:d1_mini]
+platform = espressif8266
+board = d1_mini
+framework = arduino
+
+upload_speed=921600
+
+monitor_speed=115200
+
+lib_deps =
+    waspinator/AccelStepper@^1.64

movinghead/src/main.cpp

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+#include <Arduino.h>
+
+
+#include <AccelStepper.h>
+
+// https://learn.watterott.com/de/silentstepstick/pinconfig/tmc2130/
+
+
+#define EN_PIN           D0
+#define ROLL_STEP_PIN D8
+#define ROLL_DIR_PIN D7
+
+#define PITCH_STEP_PIN D6
+#define PITCH_DIR_PIN D5
+
+AccelStepper stepperPitch(AccelStepper::DRIVER, PITCH_STEP_PIN, PITCH_DIR_PIN);
+
+AccelStepper stepperRoll(AccelStepper::DRIVER, ROLL_STEP_PIN, ROLL_DIR_PIN);
+
+unsigned long stepsPerRotationPitch=16*42*400/12; //12z to 42z, 16x microstepping
+
+unsigned long stepsPerRotationRoll=16*85*400/17;//17z to 85z, 16x microstepping
+
+void setup() {
+  Serial.begin(115200);
+  
+  stepperPitch.setMaxSpeed(15000);
+  stepperPitch.setAcceleration(80000.0);
+  stepperPitch.moveTo(stepsPerRotationPitch/2);
+
+  stepperRoll.setMaxSpeed(15000);
+  stepperRoll.setAcceleration(80000.0);
+  stepperRoll.moveTo(stepsPerRotationRoll/8);
+}
+
+void loop() {
+  static unsigned long last_change;
+
+  if (stepperPitch.distanceToGo() == 0) {
+    if (stepperPitch.currentPosition()>100) {
+      Serial.print("Pitch Moving to: "); Serial.println(0);
+      stepperPitch.moveTo(0);
+    }else{
+      Serial.print("Pitch Moving to: "); Serial.println(stepsPerRotationPitch/2);
+      stepperPitch.moveTo(stepsPerRotationPitch/2);
+    }
+  }
+
+  if (stepperRoll.distanceToGo() == 0) {
+    if (stepperRoll.currentPosition()>100) {
+      Serial.print("Roll Moving to: "); Serial.println(0);
+      stepperRoll.moveTo(0);
+    }else{
+      Serial.print("Roll Moving to: "); Serial.println(stepsPerRotationRoll/8);
+      stepperRoll.moveTo(stepsPerRotationRoll/8);
+    }
+  }
+  
+  bool resultPitch = stepperPitch.run();
+  bool resultRoll = stepperRoll.run();
+
+  
+  if ( millis() > last_change+500 ) {
+    last_change=millis();
+    //Serial.print("run="); Serial.print(result);
+    //Serial.print(" dist="); Serial.print(stepperPitch.distanceToGo());
+    //Serial.print(" pos="); Serial.print(stepperPitch.currentPosition());
+    //Serial.println();
+  }
+  
+}

movinghead/test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html