Fiona Lin / Mbed OS cap_sense

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

stepper.cpp

Committer:
fionalin
Date:
2022-07-12
Revision:
1:40e5ac1119a6
Parent:
0:4e3ad938564e
Child:
2:d9745be6c253

File content as of revision 1:40e5ac1119a6:

#include <mbed.h>
#include "stepper.h"
#include <chrono>
//#include <thread>

StepperMotor::StepperMotor(PinName enable_pin, 
                           PinName step_pin, 
                           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;}
      
void StepperMotor::step_positive() {
    dir = 0;
    step = 1;
    wait_us(40);
    step = 0;
    wait_us(40);
}

void StepperMotor::step_negative() {
    dir = 1;
    step = 1;
    wait_us(40);
    step = 0;
    wait_us(40);
}

int32_t StepperMotor::get_steps() {
    return count;
}

void StepperMotor::reset_step_count() {
    count = 0;
}