debugged pauseMove and resumeMove JJ
Dependents: steppertest GrabTest R5 2016 Robotics Team 1
Fork of R5_StepperDrive by
Diff: StepperDrive.h
- Revision:
- 8:ceb1201fd3a6
- Parent:
- 7:2b1b777d538a
diff -r 2b1b777d538a -r ceb1201fd3a6 StepperDrive.h --- 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