debugged pauseMove and resumeMove JJ
Dependents: steppertest GrabTest R5 2016 Robotics Team 1
Fork of R5_StepperDrive by
Diff: StepperDrive.cpp
- Revision:
- 10:1a79af981c7b
- Parent:
- 9:fb26142680b9
diff -r fb26142680b9 -r 1a79af981c7b StepperDrive.cpp --- a/StepperDrive.cpp Sat Apr 09 03:29:20 2016 +0000 +++ b/StepperDrive.cpp Sat Apr 09 04:58:38 2016 +0000 @@ -10,7 +10,7 @@ invertRight=in6; pit.attach_us(this, &StepperDrive::pitCallback, in9); moveComplete=true; - + enable = 1; // disables steppers } int StepperDrive::move(float distance, float angle) @@ -71,12 +71,12 @@ { if(moveComplete==true) { - enable = 1; + enable = 1; // disables steppers return; } else { - enable = 0; + enable = 0; // enable Steppers if(leftSteps!=0) { leftError+=(fabs(leftStepsPC)-floor(fabs(leftStepsPC)));