David Lowe / stepper

Modified phase table in stepper.cpp to enable stepping a bipolar motor using a twin H-bridge driver.

Fork of stepper by Kenji Arai

Corrected single-stepping, now walking up or down just one phase table. Compile-time options for driving bipolar motor in any of single-phase, two-phase, or half-stepping. Coils remain engaged at end of specifed movement command - de-energize coils by issuing a motor.move(0) while already stopped.

Diff: stepper.cpp

Revision:
6:ee6c96064559
Parent:
5:f2bbcd06019e
Child:
7:9fc4b1be489c
diff -r f2bbcd06019e -r ee6c96064559 stepper.cpp
--- a/stepper.cpp	Mon Dec 22 21:15:55 2014 +0000
+++ b/stepper.cpp	Mon Dec 22 21:49:05 2014 +0000
@@ -64,7 +64,7 @@
         steps = -steps;
     }
     // test for +ve, don't flip direction for stop command steps==0
-    if (steps > 0){
+    else if (steps > 0){
        inf.direction = D_CW;
     }
     inf.total_step = steps;