Keegan Hu
dfd
Fork of
puma_test
by 
Keegan Hu
Diff: Stepper_motor.h
- Revision:
- 0:2e00b81c9137
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper_motor.h Fri May 11 06:06:10 2018 +0000
@@ -0,0 +1,23 @@
+#ifndef _Stepper_motor_H
+#define _Stepper_motor_H
+#include "a4988.h"
+#include "mbed.h"
+class Stepper_motor:public Stepper,public InterruptIn
+{
+public:
+ Stepper_motor(PinName _en,PinName _stepPin,PinName _dirPin,PinName Inter,int _ratio,int _micorstep,int _dir,float _rec=1.8);
+ void Config(float rec_rate,float rec);
+ void reConfig(float _rec);
+ int getDir();
+ int pos_dir;
+ int neg_dir;
+ void Init();
+private:
+ void set();
+ int ratio;
+ int microstep;
+ int dir;
+ float Ori_rec;
+};
+
+#endif
\ No newline at end of file