Revision 1:88f743f3e7a7, committed 2018-05-11

Comitter:

Bilybill

Date:

Fri May 11 06:05:21 2018 +0000

Parent:

0:173936452e07

Commit message:

afds

Changed in this revision

--- a/a4988.cpp	Wed May 02 10:48:23 2018 +0000
+++ b/a4988.cpp	Fri May 11 06:05:21 2018 +0000
@@ -6,8 +6,7 @@
 {
     
 }
- 
-void Stepper::step(int dir, int frequency ,volatile int _remain)
+void Stepper::step(int dir, long long int frequency ,volatile long long int _remain)
 {
     //fun = &Stepper::step_control;
     if (dir == 1) {
@@ -16,7 +15,7 @@
         direction = 1;
     }
     remain = _remain;
-    step_ticker.attach(this, &Stepper::step_control,1.0/frequency);
+    step_ticker.attach(this, &Stepper::step_control,0.5/frequency);
 }
  
 void Stepper::enable()
@@ -35,11 +34,19 @@
         {         
             return;
         }
-        
-                if(stepPin){
-                        stepPin = 0; //STEP 1->0
-                        remain--;
-                }else{
-                        stepPin = 1; //STEP 0->1
-                }
+        if(remain < 0 )
+        {
+            if(stepPin){
+                stepPin = 0; //STEP 1->0
+            }else{
+                stepPin = 1; //STEP 0->1
+            }
+        }
+            
+        if(stepPin){
+            stepPin = 0; //STEP 1->0
+            remain--;
+        }else{
+            stepPin = 1; //STEP 0->1
+        }
 }

--- a/a4988.h	Wed May 02 10:48:23 2018 +0000
+++ b/a4988.h	Fri May 11 06:05:21 2018 +0000
@@ -8,15 +8,15 @@
 class Stepper
 {
 public:
-    Stepper(PinName _en,PinName _stepPin, PinName _direction);
-    void step(int dir, int frequency ,volatile int _remain);
+    Stepper(PinName _en = PB_9,PinName _stepPin = PB_0, PinName _direction = PB_7 );
+    void step(int dir, long long int frequency ,volatile long long int _remain);
     void enable();
     void disable();
 private:
     DigitalOut en;
     DigitalOut stepPin;
     DigitalOut direction;
-    volatile int remain;
+    volatile long long int remain;
     Ticker step_ticker;
     void step_control();
    // pClassFun fun;