STEPPER_MOTOR.hpp

00001 /*
00002 This is the stepper motor class and is used to control all of the motors individually
00003 */
00004 
00005 #ifndef STEPPER_MOTOR_HPP//Header Guards Prevents Multiple includes
00006 #define STEPPER_MOTOR_HPP
00007 
00008 //Libraries and header includes
00009 #include "mbed.h"
00010 #include "rtos.h"
00011 class STEPPER_MOTOR                       //This creates a class called Led
00012 { 
00013 public: 
00014  
00015     STEPPER_MOTOR(PinName N1, PinName N2, PinName N3, PinName N4); //Constructor
00016     ~STEPPER_MOTOR();                                 //Destructor
00017     void Permanent_Rotate();
00018     void Permanent_Rotate_clock_wise();
00019     void Permanent_Rotate_anti_clock_wise();
00020     void Rotate_90();
00021     void Rotate_Steps(int Steps);
00022 private:    
00023     //Private member variables to prevent them being accessed externally 
00024     //Data Pins
00025     bool _dir;
00026     int _step;
00027     int _Number_of_steps;
00028     DigitalOut pin1;         //Pin 1
00029     DigitalOut pin2;         //Pin 2
00030     DigitalOut pin3;         //Pin 3  
00031     DigitalOut pin4;         //Pin 4
00032 
00033 };
00034 #endif//STEPPER_MOTOR_HPP