Diff: StepperMotor/Stepper.h

Revision:

71:5590dbe8393a

Parent:

58:02dc8328975a

--- a/StepperMotor/Stepper.h	Wed May 04 21:51:00 2016 +0000
+++ b/StepperMotor/Stepper.h	Thu May 05 03:47:05 2016 +0000
@@ -7,20 +7,32 @@
 {
 public:
     Stepper(PinName _en, PinName _stepPin, PinName dir, PinName _minEndStop, float step_per_mm);
-    void step(int number, int dir, float speed);
-    void mm(int number, int dir);
-    void mm(float distance);
+    bool step(int _number, int _dir, float _speed, bool _async=false);
+    bool mm(int _number, int _dir, bool _async=false);
+    bool mm(float _distance, bool _async=false);
+    
+    bool done();
+    
     void enable();
     void disable();
     
     int getEndStop() {return minEndStop.read();}
     
+    void tick();
+    
     float Step_Per_MM;
 private:
     DigitalOut en;
     DigitalOut stepPin;
     DigitalOut direction;
     DigitalIn minEndStop;
+    
+    int number;
+    int dir;
+    float speed;
+    bool async;
+    Ticker ticker;
+    
 };