Justin Jordan
/
R5_StepperDrive
update 1/27/16
Fork of R5_StepperDrive by
Diff: StepperDrive.cpp
- Revision:
- 1:909572175aad
- Parent:
- 0:266a770a17e9
- Child:
- 2:80c0b2a5adc0
diff -r 266a770a17e9 -r 909572175aad StepperDrive.cpp --- 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; }