Libary for Strpper motor controller, eg: Rep-Rap smart stick Catering for both, Phisical 'PIN' endstops, and PORT Expander end stops . ** BOTH IN TEST ** ** Phisical PIN tested (minimal) **** PORT PIN NOT TESTED ****
Diff: Stepper.h
- Revision:
- 0:a509cc91f7c2
- Child:
- 1:66e95666c3b5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Stepper.h Thu Jul 18 09:05:15 2013 +0000 @@ -0,0 +1,44 @@ + + +#ifndef _stepper_h_ +#define _stepper_h_ + +#include "mbed.h" + +class Stepper { + +public: + + Stepper(PinName Step, PinName Dir, PinName En, PinName Endstop_Left, PinName Endstop_Right, bool Invert_Dir, bool Invert_ESL, bool Invert_ESR); + + bool Pulse(); + bool Set_Dir (bool Dir2Set); + bool ESL_Activeated(); + bool ESR_Activeated(); + bool ESL_Fitted(); + bool ESR_Fitted(); + +protected: + DigitalOut _Step; + DigitalOut _Dir; + DigitalOut _En; + + DigitalIn _Endstop_Left; + DigitalIn _Endstop_Right; + + + bool _Invert_Dir; + bool _Invert_ESL; + bool _Invert_ESR; + bool _g4; + + bool ESL; + +private: + + int ESR; + int Set; + + }; + +#endif // _stepper_h_ \ No newline at end of file