Fiona Lin / Mbed OS cap_sense

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Diff: stepper.cpp

Revision:
1:40e5ac1119a6
Parent:
0:4e3ad938564e
Child:
2:d9745be6c253
diff -r 4e3ad938564e -r 40e5ac1119a6 stepper.cpp
--- a/stepper.cpp	Tue Jun 28 21:32:51 2022 +0000
+++ b/stepper.cpp	Tue Jul 12 13:02:25 2022 -0400
@@ -3,28 +3,30 @@
 #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 = 1;
-}
+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 = 1;
+    dir = 0;
     step = 1;
-//    ThisThread::sleep_for(1us);
+    wait_us(40);
     step = 0;
-    count++;
+    wait_us(40);
 }
 
 void StepperMotor::step_negative() {
-    dir = 0;
+    dir = 1;
     step = 1;
-//    ThisThread::sleep_for(1us);
+    wait_us(40);
     step = 0;
-    count++;
+    wait_us(40);
 }
 
 int32_t StepperMotor::get_steps() {