Diff: Table.cpp

Revision:

2:97b1bc1f0b5f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Table.cpp	Sat Nov 14 11:44:18 2020 +0000
@@ -0,0 +1,28 @@
+#include "Table.h"
+
+table::table(table_pins tablepin):stepper_X(0),steppers_Y(0)
+{  
+   stepper_X = new stepper(tablepin.X_en,tablepin.X_stepPin,tablepin.X_dir);
+   steppers_Y = new steppers(tablepin.Y_en,tablepin.Y_stepPin,tablepin.Y_dirG,tablepin.Y_dirD);
+}
+
+void table::move(position pos_current, position pos_togo, float speed)
+{
+    while (pos_current == pos_togo)
+    {
+        if (pos_current.X > pos_togo.X) {
+            stepper_X->step(1,speed);
+            pos_current.X = pos_current.X - 0.25; 
+        } else if (pos_current.X < pos_togo.X) {
+            stepper_X->step(0,speed);
+            pos_current.X = pos_current.X + 0.25; 
+        }
+        if (pos_current.Y > pos_togo.Y) {
+            steppers_Y->step(1,speed);
+            pos_current.Y = pos_current.Y - 0.25; 
+        } else if (pos_current.Y < pos_togo.Y) {
+            steppers_Y->step(0,speed);
+            pos_current.Y = pos_current.Y + 0.25;
+        }
+    }
+}
\ No newline at end of file