Diff: stepper.cpp

Revision:

2:d9745be6c253

Parent:

1:40e5ac1119a6

--- a/stepper.cpp	Tue Jul 12 13:02:25 2022 -0400
+++ b/stepper.cpp	Thu Aug 04 15:14:29 2022 -0400
@@ -1,3 +1,4 @@
+#include <cstdio>
 #include <mbed.h>
 #include "stepper.h"
 #include <chrono>
@@ -8,17 +9,31 @@
                            PinName dir_pin, 
                            PinName ms1_pin, 
                            PinName ms2_pin, 
-                           PinName ms3_pin
-                           )
-    : enable(enable_pin), step(step_pin), dir(dir_pin), ms1(ms1_pin), ms2(ms2_pin), ms3(ms3_pin), 
-    count(0) {enable = 0;}
-      
+                           PinName ms3_pin,
+                           PinName sleep_pin)
+    : enable(enable_pin), step(step_pin), dir(dir_pin), ms1(ms1_pin),
+      ms2(ms2_pin), ms3(ms3_pin), sleep(sleep_pin), count(0) {
+        enable = 0;
+        sleep = 1;
+        step = 0;
+    }
+
 void StepperMotor::step_positive() {
     dir = 0;
     step = 1;
-    wait_us(40);
+    
+    wait_us(40000);
+    if (step == 1) {
+        printf("step rise\n");
+    };
+    if (step == 0){
+        printf("step fall, also something is wrong\n");
+    };
+    
     step = 0;
-    wait_us(40);
+
+    wait_us(40000);
+    printf("one step taken\n");
 }
 
 void StepperMotor::step_negative() {