File content as of revision 2:80c0b2a5adc0:

#ifndef _STEPPER_DRIVE_
#define _STEPPER_DRIVE_

#include "mbed.h"

#define Ustep   16  //microstepping setup: 1, 2, 4, 8, or 16

class StepperDrive{
    public:
    StepperDrive(Serial &pc1, PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9 = 1000);
              //(serisl &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
    int move(float distance, float angle);
    bool isMoveDone();
    
    Serial &pc;
    int getRightSteps() { return rightSteps; }
    int getLeftSteps() { return leftSteps; }
    
    private:
    Ticker pit;           //periodic interrupt timer
    
    void pitCallback();
    
    void stepRight(bool dir);
    void stepLeft(bool dir);
    
    DigitalOut leftStep;
    DigitalOut leftDir;
    DigitalOut rightStep;
    DigitalOut rightDir;
    
    float wheelCircum;     //wheel circumference
    float wheelSepar;      //distance between wheels
    bool invertLeft;       //software wheel direction inversion
    bool invertRight;      //software wheel direction inversion
    bool moveComplete;
    
    int leftSteps;
    int rightSteps;
    float leftStepsPC;
    float rightStepsPC;
    float leftError;
    float rightError;
};

#endif