Diff: StepperDrive.cpp

Revision:

3:97bea13f40a9

Parent:

2:80c0b2a5adc0

Child:

4:754c74beef20

--- a/StepperDrive.cpp	Wed Feb 17 16:47:29 2016 +0000
+++ b/StepperDrive.cpp	Tue Feb 23 23:36:09 2016 +0000
@@ -10,7 +10,7 @@
     invertRight=in6;
     pit.attach_us(this, &StepperDrive::pitCallback, in9);
     moveComplete=true;
-        
+
 }
 
 int StepperDrive::move(float distance, float angle)
@@ -19,10 +19,10 @@
     {                       //return
         return -1;
     }
-    
+
     float stepDistance=wheelCircum/(200*Ustep);
     float d, dl, dr;
-    
+
     if(distance==0 && angle!=0)
     {
         d=angle*wheelSepar/2;
@@ -44,7 +44,7 @@
     {
         dl=angle*(distance/angle+wheelSepar/2);
         dr=angle*(distance/angle-wheelSepar/2);
-        
+
         leftSteps=dl/stepDistance;
         rightSteps=dr/stepDistance;
         leftStepsPC=-1;
@@ -55,7 +55,7 @@
     {
         dl=angle*(distance/angle-wheelSepar/2);
         dr=angle*(distance/angle+wheelSepar/2);
-        
+
         leftSteps=dl/stepDistance;
         rightSteps=dr/stepDistance;
         leftStepsPC=-1*(dl/dr);
@@ -120,12 +120,12 @@
     leftStep=1;
     wait_us(3);
     leftStep=0;
-    
+
     /* completed 1 step (increment or decrement */
     if(leftSteps < 0)
         leftSteps++;
     else
-        leftSteps--; 
+        leftSteps--;
 }
 
 void StepperDrive::stepRight(bool dir)
@@ -134,12 +134,12 @@
     rightStep=1;
     wait_us(3);
     rightStep=0;
-    
+
     /* completed 1 step (increment or decrement */
     if(rightSteps < 0)
         rightSteps++;
     else
-        rightSteps--; 
+        rightSteps--;
 }
 
 bool StepperDrive::isMoveDone()