ARES / Mbed 2 deprecated Timer

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Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

StepperMotor/Stepper.h@97:42167cfeb8d7, 2016-05-06 (annotated)

Committer:
sype
Date:
Fri May 06 22:15:43 2016 +0000
Revision:
97:42167cfeb8d7
Parent:
93:c0b040954eac 
update gotoDistPos

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 92:f09f55aa992b 1 #ifndef MBED_STEPPER_H
IceTeam 92:f09f55aa992b 2 #define MBED_STEPPER_H
IceTeam 92:f09f55aa992b 3
IceTeam 92:f09f55aa992b 4 #include "mbed.h"
IceTeam 93:c0b040954eac 5 #include "defines_Stepper.h"
IceTeam 92:f09f55aa992b 6
IceTeam 92:f09f55aa992b 7 class Stepper
IceTeam 92:f09f55aa992b 8 {
IceTeam 92:f09f55aa992b 9 public:
IceTeam 92:f09f55aa992b 10 Stepper(PinName _en, PinName _stepPin, PinName dir, PinName _minEndStop, float step_per_mm);
IceTeam 92:f09f55aa992b 11 bool step(int _number, int _dir, float _speed, bool _async=false);
IceTeam 92:f09f55aa992b 12 bool mm(int _number, int _dir, bool _async=false);
IceTeam 92:f09f55aa992b 13 bool mm(float _distance, bool _async=false);
IceTeam 92:f09f55aa992b 14
IceTeam 92:f09f55aa992b 15 bool done();
IceTeam 92:f09f55aa992b 16
IceTeam 92:f09f55aa992b 17 void enable();
IceTeam 92:f09f55aa992b 18 void disable();
IceTeam 92:f09f55aa992b 19
IceTeam 92:f09f55aa992b 20 int getEndStop() {return minEndStop.read();}
IceTeam 92:f09f55aa992b 21
IceTeam 92:f09f55aa992b 22 void tick();
IceTeam 92:f09f55aa992b 23
IceTeam 92:f09f55aa992b 24 float Step_Per_MM;
IceTeam 92:f09f55aa992b 25 private:
IceTeam 92:f09f55aa992b 26 DigitalOut en;
IceTeam 92:f09f55aa992b 27 DigitalOut stepPin;
IceTeam 92:f09f55aa992b 28 DigitalOut direction;
IceTeam 92:f09f55aa992b 29 DigitalIn minEndStop;
IceTeam 92:f09f55aa992b 30
IceTeam 92:f09f55aa992b 31 int number;
IceTeam 92:f09f55aa992b 32 int dir;
IceTeam 92:f09f55aa992b 33 float speed;
IceTeam 92:f09f55aa992b 34 bool async;
IceTeam 92:f09f55aa992b 35 Ticker ticker;
IceTeam 92:f09f55aa992b 36
IceTeam 92:f09f55aa992b 37 };
IceTeam 92:f09f55aa992b 38
IceTeam 92:f09f55aa992b 39
IceTeam 92:f09f55aa992b 40 #endif