ARES
/
Timer
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Robot2016_2-0
by 
ARES
Diff: StepperMotor/Stepper.h
- Revision:
- 58:02dc8328975a
- Child:
- 71:5590dbe8393a
diff -r dfeee9e5c0af -r 02dc8328975a StepperMotor/Stepper.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperMotor/Stepper.h Wed May 04 19:55:03 2016 +0000
@@ -0,0 +1,27 @@
+#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);
+ void step(int number, int dir, float speed);
+ void mm(int number, int dir);
+ void mm(float distance);
+ void enable();
+ void disable();
+
+ int getEndStop() {return minEndStop.read();}
+
+ float Step_Per_MM;
+private:
+ DigitalOut en;
+ DigitalOut stepPin;
+ DigitalOut direction;
+ DigitalIn minEndStop;
+};
+
+
+#endif
\ No newline at end of file