Robotique FIP / X_NUCLEO_IHM01A1

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Diff: Components/l6474/l6474_class.h

Revision:
11:b4d365138c21
Parent:
10:c3824af0caf4
Child:
12:9f4b9540ff3e
--- a/Components/l6474/l6474_class.h	Thu Nov 26 16:00:28 2015 +0000
+++ b/Components/l6474/l6474_class.h	Fri Nov 27 10:00:22 2015 +0000
@@ -143,13 +143,17 @@
      *   }                                                                    *
      *------------------------------------------------------------------------*/
     /**
-     * @brief  Initializing the component.
+     * @brief  Initializing the component in FULL STEP mode.
      * @param  init Pointer to device specific initalization structure.
      * @retval "0" in case of success, an error code otherwise.
      */
     virtual int Init(void *init)
     {
-        return (int) L6474_Init((MOTOR_InitTypeDef *) init);
+        DrvStatusTypeDef ret = L6474_Init((MOTOR_InitTypeDef *) init);
+        if (ret != COMPONENT_OK)
+            return (int) ret;
+        L6474_SelectStepMode(STEP_MODE_FULL);
+        return (int) COMPONENT_OK;
     }
 
     /**