debugged pauseMove and resumeMove JJ
Dependents: steppertest GrabTest R5 2016 Robotics Team 1
Fork of R5_StepperDrive by
Diff: StepperDrive.cpp
- Revision:
- 8:ceb1201fd3a6
- Parent:
- 6:2657751be34b
- Child:
- 9:fb26142680b9
--- a/StepperDrive.cpp Wed Apr 06 22:06:09 2016 +0000 +++ b/StepperDrive.cpp Sat Apr 09 02:50:44 2016 +0000 @@ -2,7 +2,7 @@ #include "StepperDrive.h" #include <cmath> // fabs, floor, signbit -StepperDrive::StepperDrive(Serial &pc1, PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9):pc(pc1), leftStep(in1), leftDir(in2), rightStep(in4), rightDir(in5) +StepperDrive::StepperDrive(Serial &pc1, PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9) : pc(pc1), leftStep(in1), leftDir(in2), rightStep(in4), rightDir(in5), enable(enablePin) { wheelCircum=in7; wheelSepar=in8; @@ -71,10 +71,12 @@ { if(moveComplete==true) { + enable = 1; return; } else { + enable = 0; if(leftSteps!=0) { leftError+=(fabs(leftStepsPC)-floor(fabs(leftStepsPC)));