Justin Jordan
/
R5_StepperDrive
update 1/27/16
Fork of R5_StepperDrive by
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