Diff: StepperDrive.cpp

Revision:

6:2657751be34b

Parent:

5:f611950fdeba

Child:

8:ceb1201fd3a6

diff -r f611950fdeba -r 2657751be34b StepperDrive.cpp
--- a/StepperDrive.cpp	Sat Mar 26 05:08:55 2016 +0000
+++ b/StepperDrive.cpp	Fri Apr 01 17:20:31 2016 +0000
@@ -158,13 +158,19 @@
 //      and rightStepsPause.
 void StepperDrive::pauseMove()
 {
+    moveComplete = true;
+    
     leftStepsPause = leftSteps;
     rightStepsPause = rightSteps;
+    leftStepsPCPause = leftStepsPC;
+    rightStepsPCPause = rightStepsPC;
+    leftErrorPause = leftError;
+    rightErrorPause = rightError;
+    invertLeftPause = invertLeft;
+    invertRightPause = invertRight;
     
     leftSteps = 0;
     rightSteps = 0;
-    
-    moveComplete = true;
 }
 
 // FUNCTION:
@@ -181,9 +187,20 @@
 {
     leftSteps = leftStepsPause;
     rightSteps = rightStepsPause;
+    leftStepsPC = leftStepsPCPause;
+    rightStepsPC = rightStepsPCPause;
+    leftError = leftErrorPause;
+    rightError = rightErrorPause;
+    invertLeft = invertLeftPause;
+    invertRight = invertRightPause;
     
     leftStepsPause = 0;
     rightStepsPause = 0;
     
-    moveComplete = false;
+    if ((leftSteps == 0) && (rightSteps == 0))
+        moveComplete = true;
+    else
+        moveComplete = false;
+    
+    /* may need to wait for move to complete here */
 }
\ No newline at end of file