beta1
Fork of a4998 by
Diff: a4988.cpp
- Revision:
- 2:57c57267b1da
- Parent:
- 1:209911ee18cd
- Child:
- 3:9e9f3cd7fff0
diff -r 209911ee18cd -r 57c57267b1da a4988.cpp --- a/a4988.cpp Sat May 05 14:11:09 2018 +0000 +++ b/a4988.cpp Mon Jul 16 23:53:54 2018 +0000 @@ -9,14 +9,17 @@ void Stepper::step(int dir, int frequency ,volatile int _remain) { - //fun = &Stepper::step_control; if (dir == 1) { direction = 0; } else if (dir == 0) { direction = 1; } + else + { + return; + } remain = _remain; - step_ticker.attach(this, &Stepper::step_control,0.5/frequency); + step_ticker.attach(callback(this, &Stepper::step_control),0.5/frequency); } void Stepper::enable() @@ -31,8 +34,9 @@ void Stepper::step_control() { - if(remain == 0) - { + if(remain <= 0) + { + step_ticker.detach(); return; } @@ -43,3 +47,31 @@ stepPin = 1; //STEP 0->1 } } + +void Stepper::longrun(int dir, int frequency) +{ + if (dir == 1) { + direction = 0; + } else if (dir == 0) { + direction = 1; + } + else + { + return; + } + step_ticker.attach(callback(this, &Stepper::run_control),0.5/frequency); +} + +void Stepper::run_control() +{ + if(stepPin){ + stepPin = 0; //STEP 1->0 + remain--; + }else{ + stepPin = 1; //STEP 0->1 +} +} +void Stepper::stoprun() +{ + step_ticker.detach(); +} \ No newline at end of file