Diff: StepperDrive.cpp

Revision:

1:909572175aad

Parent:

0:266a770a17e9

Child:

2:80c0b2a5adc0

--- a/StepperDrive.cpp	Sun Nov 22 19:27:47 2015 +0000
+++ b/StepperDrive.cpp	Wed Jan 27 16:40:02 2016 +0000
@@ -1,14 +1,15 @@
 #include "mbed.h"
 #include "StepperDrive.h"
 
-StepperDrive::StepperDrive(PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9):leftStep(in1), leftDir(in2), rightStep(in4), rightDir(in5)
+StepperDrive::StepperDrive(Serial &pc1, PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9):pc(pc1), leftStep(in1), leftDir(in2), rightStep(in4), rightDir(in5)
 {
     wheelCircum=in7;
     wheelSepar=in8;
     invertLeft=in3;
     invertRight=in6;
-    pit.attach(this, &StepperDrive::pitCallback, in9);
+    pit.attach_us(this, &StepperDrive::pitCallback, in9);
     moveComplete=true;
+        
 }
 
 int StepperDrive::move(float distance, float angle)
@@ -62,6 +63,8 @@
     }
     leftError=0;
     rightError=0;
+pc.printf("\n   Left Steps - %i", leftSteps);
+pc.printf("\n   Right Steps - %i", rightSteps);
     return 0;
 }