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Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

StepperMotor/Stepper.h@58:02dc8328975a, 2016-05-04 (annotated)

Committer:
Jagang
Date:
Wed May 04 19:55:03 2016 +0000
Revision:
58:02dc8328975a
Child:
71:5590dbe8393a
Adding ControlleurPince

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 58:02dc8328975a 1 #ifndef MBED_STEPPER_H
Jagang 58:02dc8328975a 2 #define MBED_STEPPER_H
Jagang 58:02dc8328975a 3
Jagang 58:02dc8328975a 4 #include "mbed.h"
Jagang 58:02dc8328975a 5
Jagang 58:02dc8328975a 6 class Stepper
Jagang 58:02dc8328975a 7 {
Jagang 58:02dc8328975a 8 public:
Jagang 58:02dc8328975a 9 Stepper(PinName _en, PinName _stepPin, PinName dir, PinName _minEndStop, float step_per_mm);
Jagang 58:02dc8328975a 10 void step(int number, int dir, float speed);
Jagang 58:02dc8328975a 11 void mm(int number, int dir);
Jagang 58:02dc8328975a 12 void mm(float distance);
Jagang 58:02dc8328975a 13 void enable();
Jagang 58:02dc8328975a 14 void disable();
Jagang 58:02dc8328975a 15
Jagang 58:02dc8328975a 16 int getEndStop() {return minEndStop.read();}
Jagang 58:02dc8328975a 17
Jagang 58:02dc8328975a 18 float Step_Per_MM;
Jagang 58:02dc8328975a 19 private:
Jagang 58:02dc8328975a 20 DigitalOut en;
Jagang 58:02dc8328975a 21 DigitalOut stepPin;
Jagang 58:02dc8328975a 22 DigitalOut direction;
Jagang 58:02dc8328975a 23 DigitalIn minEndStop;
Jagang 58:02dc8328975a 24 };
Jagang 58:02dc8328975a 25
Jagang 58:02dc8328975a 26
Jagang 58:02dc8328975a 27 #endif