Justin Jordan / Mbed 2 deprecated R5_StepperDrive

update 1/27/16

Dependencies:   mbed

Fork of R5_StepperDrive by Jaime Martinez

Diff: StepperDrive.h

Revision:
4:754c74beef20
Parent:
3:97bea13f40a9
--- a/StepperDrive.h	Tue Feb 23 23:36:09 2016 +0000
+++ b/StepperDrive.h	Fri Mar 25 19:50:38 2016 +0000
@@ -11,6 +11,8 @@
               //(serisl &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
     int move(float distance, float angle);
     bool isMoveDone();
+    void pauseMove();
+    void resumeMove();
 
     Serial &pc;
     int getRightSteps() { return rightSteps; }
@@ -41,6 +43,8 @@
     float rightStepsPC;
     float leftError;
     float rightError;
+    int leftStepsPause; // for holding steps left during pause
+    int rightStepsPause; // for holding steps right during pause
 };
 
 #endif
\ No newline at end of file