File content as of revision 2:d589fc047bc9:

#include "steppercontroller.h"

StepperController::StepperController(PinName phaseA,PinName enA, PinName phaseB, PinName enB ):
    phaseA(phaseA), enA(enA), phaseB(phaseB), enB(enB)
{
    this->enA.period(50e-6f);
    this->enB.period(50e-6f);
    pulseWidth = 0.1f;
    state = 0;
    seq = Interleaved;
}

void StepperController::advance()
{
    state = (state + 4 + dir) & 3;
    updateOutputs();
}

void StepperController::setPeriod(float period)
{
    enA.period(period);
    enB.period(period);   
}

void StepperController::setPulseWidth(float pulseWidth)
{
    this->pulseWidth = pulseWidth;
}

void StepperController::setDirection(Direction dir)
{
    this->dir = dir;
}

void StepperController::setSequenceType(SequenceType seq)
{
    this->seq = seq;
}

void StepperController::updateOutputs()
{
    switch(state){
    case 0:
       phaseA = 1;
       enA = pulseWidth;
       phaseB = 0;
       enB = 0.0f;
       break;
    case 1:
       switch(seq) {
       case Consecutive:
          phaseA = 0;
          enA = pulseWidth;
          phaseB = 0;
          enB = 0.0f;
          break;
       case Interleaved:
          phaseA = 0;
          enA = 0.0f;
          phaseB = 1;
          enB = pulseWidth;
          break;
       }
       break;

    case 2:
       switch(seq) {
       case Consecutive:
          phaseA = 0;
          enA = 0.0f;
          phaseB = 1;
          enB = pulseWidth;
          break;
       case Interleaved:
          phaseA = 0;
          enA = pulseWidth;
          phaseB = 0;
          enB = 0.0f;
          break;
       }
       break;

    case 3:
          phaseA = 0;
          enA = 0.0f;
          phaseB = 0;
          enB = pulseWidth;
       break;

    default:
       phaseA = 0;
       enA = 0.0;
       phaseB = 0;
       enB = 0.0;
    }
}