Diff: stepper_motors.h

Revision:

6:ae3e6aefe908

Parent:

4:2512939c10f0

--- a/stepper_motors.h	Tue Oct 18 20:46:01 2016 +0000
+++ b/stepper_motors.h	Thu Nov 10 19:20:55 2016 +0000
@@ -1,5 +1,9 @@
+//stepper_motors.h
+//Author: Carter Sharer
+//Date: 10/10/2016
+
 //STEPPER MOTORS
-#define ZERO_SPEED 65535
+#define ZERO_SPEED 10000000 //65535
 #define MAX_ACCEL 7
 #define ENABLE 0
 #define DISABLE 1
@@ -32,7 +36,7 @@
     wait_us(1);
     step_M1 = 0;
     
-    //Update Postion
+    //Update Motor Postion
     if(dir_M1)
         pos_M1++;
     else
@@ -46,14 +50,14 @@
     wait_us(1);
     step_M2 = 0;
     
-    //Update Position
+    //Update Motor Position
     if(dir_M2)
         pos_M2++;
     else
         pos_M2--;
 }
 
-//Set motor 1 speed. Speed [-100, +100]
+//Set motor 1 speed. Speed [-100, 0, +100] = [Max Reverse, Stop, Max Forward]
 void setMotor1Speed(int16_t speed)
 {
     long timer_period;
@@ -83,7 +87,7 @@
     timer_M1.attach_us(&ISR1, timer_period); //This is what sets motor speed
 }
 
-//Set motor 2 speed. Speed [-100, +100]
+//Set motor 2 speed. Speed [-100, 0, +100] = [Max Reverse, Stop, Max Forward]
 void setMotor2Speed(int16_t speed)
 {
     long timer_period;