Diff: StepperTB.cpp

Revision:

2:787cee5a8dad

Parent:

1:6cbbb5795b9c

--- a/StepperTB.cpp	Thu Nov 01 15:00:05 2018 +0000
+++ b/StepperTB.cpp	Fri Nov 09 17:30:00 2018 +0000
@@ -17,29 +17,48 @@
     }
 
 //Method
+
+void StepperTB::MoveOneStep(bool Direction, int Interval){
+        int Msteps = getMstep();
+        
+        //Gerak sebanyak Mstep Microstep = 1 Step
+        if(Direction == 0){
+            //Arah 0 (Belum dicoba CW/CCW)
+            for(int i=0; i<Msteps; i++){
+                    DIR_=0;
+                    ENA_=1;
+                    PUL_=1;
+                    wait_us(Interval);
+                    PUL_=0;
+                    wait_us(Interval);
+                }
+            }
+        else {
+            //Arah 1
+            for(int i=0; i>Msteps; i--){
+                    DIR_=1;
+                    ENA_=1;
+                    PUL_=1;
+                    wait_us(Interval);
+                    PUL_=0;
+                    wait_us(Interval);
+                }
+            }
+    }
+
 void StepperTB::MoveStep(int StepAmt, int Interval){
-        //Konversi StepAmt ke microstep
-        int MstepAmt = getMstep()*StepAmt;
         
         //Gerak sebanyak MstepAmt microstep
         if(StepAmt>=0){
-            for(int i=0; i<MstepAmt; i++){    
-                DIR_=0;
-                ENA_=1;
-                PUL_=1;
-                wait_us(Interval);
-                PUL_=0;
-                wait_us(Interval);
+            //Arah 0 (Belum dicoba CW/CCW)
+            for(int i=0; i<StepAmt; i++){    
+                    MoveOneStep(0, Interval);
                 }
             }
         else {
-            for(int i=0; i>MstepAmt; i--){
-                DIR_=1;
-                ENA_=1;
-                PUL_=1;
-                wait_us(Interval);
-                PUL_=0;
-                wait_us(Interval);
+            //Arah 1
+            for(int i=0; i>StepAmt; i--){
+                    MoveOneStep(1, Interval);
                 }
             }
     }