Texas State IEEE / R5_StepperDrive

debugged pauseMove and resumeMove JJ

Dependents:   steppertest GrabTest R5 2016 Robotics Team 1

Fork of R5_StepperDrive by David Vasquez

Diff: StepperDrive.h

Revision:
8:ceb1201fd3a6
Parent:
7:2b1b777d538a
--- a/StepperDrive.h	Wed Apr 06 22:06:09 2016 +0000
+++ b/StepperDrive.h	Sat Apr 09 02:50:44 2016 +0000
@@ -7,8 +7,8 @@
 
 class StepperDrive{
     public:
-    StepperDrive(Serial &pc1, PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9 = 1000);
-              //(serisl &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
+    StepperDrive(Serial &pc1, PinName in1, PinName in2, bool in3, PinName in4, PinName in5, PinName enablePin, bool in6, float in7, float in8, float in9 = 1000);
+              //(serisl &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, enablePin, invertRight, wheelCircum, wheelSepar, periodUs)
     int move(float distance, float angle);
     bool isMoveDone();
     void pauseMove();
@@ -34,6 +34,7 @@
     DigitalOut leftDir;
     DigitalOut rightStep;
     DigitalOut rightDir;
+    DigitalOut enable;
 
     float wheelCircum;     //wheel circumference
     float wheelSepar;      //distance between wheels