Diff: StepperMotor/Stepper.h

Revision:

92:f09f55aa992b

Child:

93:c0b040954eac

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperMotor/Stepper.h	Fri May 06 15:25:21 2016 +0000
@@ -0,0 +1,39 @@
+#ifndef MBED_STEPPER_H
+#define MBED_STEPPER_H
+
+#include "mbed.h"
+
+class Stepper
+{
+public:
+    Stepper(PinName _en, PinName _stepPin, PinName dir, PinName _minEndStop, float step_per_mm);
+    bool step(int _number, int _dir, float _speed, bool _async=false);
+    bool mm(int _number, int _dir, bool _async=false);
+    bool mm(float _distance, bool _async=false);
+    
+    bool done();
+    
+    void enable();
+    void disable();
+    
+    int getEndStop() {return minEndStop.read();}
+    
+    void tick();
+    
+    float Step_Per_MM;
+private:
+    DigitalOut en;
+    DigitalOut stepPin;
+    DigitalOut direction;
+    DigitalIn minEndStop;
+    
+    int number;
+    int dir;
+    float speed;
+    bool async;
+    Ticker ticker;
+    
+};
+
+
+#endif
\ No newline at end of file