Diff: StepperDrive.cpp

Revision:

8:ceb1201fd3a6

Parent:

6:2657751be34b

Child:

9:fb26142680b9

diff -r 2b1b777d538a -r ceb1201fd3a6 StepperDrive.cpp
--- 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)));