Stepper.h

00001 
00002 
00003 #ifndef _stepper_h_
00004 #define _stepper_h_
00005 
00006 #include "mbed.h"
00007 
00008 class Stepper {
00009 
00010 public:
00011 
00012     Stepper(PinName Step, PinName Dir, PinName En, PinName Endstop_Left, PinName Endstop_Right, bool Invert_Dir, bool Invert_ESL, bool Invert_ESR);
00013     
00014     bool Pulse();
00015     bool Set_Dir (bool Dir2Set);
00016     bool ESL_Activeated();
00017     bool ESR_Activeated();
00018     bool ESL_Fitted();
00019     bool ESR_Fitted();
00020     
00021     void Enable (bool OnOff);
00022     
00023     bool ESL_Port(int PORT_In);         // bit MASK testing of non zero port bits
00024     
00025     void ESL_Set_MASK (int Port_MASK_L_in);
00026     void ESL_Set_INV_MASK (int Port_INV_MASK_L_in);
00027     
00028   
00029 
00030 protected:
00031     DigitalOut  _Step;    
00032     DigitalOut  _Dir;
00033     DigitalOut  _En;
00034     
00035     DigitalIn _Endstop_Left;    
00036     DigitalIn _Endstop_Right;
00037     
00038     
00039     bool _Invert_Dir;
00040     bool _Invert_ESL;
00041     bool _Invert_ESR;
00042     bool _g4;
00043     
00044     bool ESL; 
00045     int Port_MASK_L;    
00046   
00047     
00048 private:
00049        
00050     int ESR; 
00051     int Set; 
00052     
00053 
00054     int Port_INV_MASK_L;    
00055     
00056     };
00057 
00058 #endif // _stepper_h_