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Dependencies:   mbed

Stepper.cpp

Committer:
thmaure
Date:
2015-05-21
Revision:
0:a1d256e2cd41

File content as of revision 0:a1d256e2cd41:

#include "Stepper.h"
#include "mbed.h"
 
stepper::stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir):en(_en),
    microstepping(ms1, ms2, ms3),
    stepPin(_stepPin),
    direction(dir)
{
}
 
void stepper::step(int microstep, int dir, float speed)
{
    if (microstep == 1) {
        microstepping = 0;
    } else if (microstep <= 4) {
        microstepping = microstep / 2;
    } else if (microstep > 4) {
        microstepping = (microstep / 2) - 1;
    }
    if (dir == 1) {
        direction = 0;
    } else if (dir == 0) {
        direction = 1;
    }
    
    //  Step...
    stepPin = 1;
    wait(1/speed);
    stepPin = 0;
    wait(1/speed);
}
 
void stepper::enable()
{
    en = 0;
}
 
void stepper::disable()
{
    en = 1;
}