Justin Jordan
/
R5_StepperDrive
update 1/27/16
Fork of R5_StepperDrive by
Diff: StepperDrive.h
- Revision:
- 1:909572175aad
- Parent:
- 0:266a770a17e9
- Child:
- 2:80c0b2a5adc0
diff -r 266a770a17e9 -r 909572175aad StepperDrive.h --- a/StepperDrive.h Sun Nov 22 19:27:47 2015 +0000 +++ b/StepperDrive.h Wed Jan 27 16:40:02 2016 +0000 @@ -7,11 +7,15 @@ class StepperDrive{ public: - StepperDrive(PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9 = 1000); + StepperDrive(Serial &pc1, PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9 = 1000); //(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