Justin Jordan / Mbed 2 deprecated R5_StepperDrive

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Dependencies:   mbed

Fork of R5_StepperDrive by Jaime Martinez

Files at this revision

API Documentation at this revision

Revision 4:754c74beef20, committed 2016-03-25

Comitter:
j_j205
Date:
Fri Mar 25 19:50:38 2016 +0000
Parent:
3:97bea13f40a9
Commit message:
3/25/16 2:50 JJ

Changed in this revision

StepperDrive.cpp Show annotated file Show diff for this revision Revisions of this file
StepperDrive.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 97bea13f40a9 -r 754c74beef20 StepperDrive.cpp
--- a/StepperDrive.cpp	Tue Feb 23 23:36:09 2016 +0000
+++ b/StepperDrive.cpp	Fri Mar 25 19:50:38 2016 +0000
@@ -145,4 +145,33 @@
 bool StepperDrive::isMoveDone()
 {
     return moveComplete;
+}
+
+// FUNCTION:
+//      void pauseMove()
+// IN-PARAMETERS:
+//      None
+// OUT-PARAMETERS:
+//      None
+// DESCRIPTION:
+//      Stops current move. Saves remaining steps in leftStepsPause
+//      and rightStepsPause.
+void StepperDrive::pauseMove();
+{
+    /* need to implement*/
+}
+
+// FUNCTION:
+//      void resumeMove()
+// IN-PARAMETERS:
+//      None
+// OUT-PARAMETERS:
+//      None
+// DESCRIPTION:
+//      Restores remaining steps from leftStepsPause
+//      and rightStepsPause to leftSteps and rightSteps. Resumes
+//      move.
+void StepperDrive::resumeMove();
+{
+    /* need to implement */
 }
\ No newline at end of file

diff -r 97bea13f40a9 -r 754c74beef20 StepperDrive.h
--- a/StepperDrive.h	Tue Feb 23 23:36:09 2016 +0000
+++ b/StepperDrive.h	Fri Mar 25 19:50:38 2016 +0000
@@ -11,6 +11,8 @@
               //(serisl &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
     int move(float distance, float angle);
     bool isMoveDone();
+    void pauseMove();
+    void resumeMove();
 
     Serial &pc;
     int getRightSteps() { return rightSteps; }
@@ -41,6 +43,8 @@
     float rightStepsPC;
     float leftError;
     float rightError;
+    int leftStepsPause; // for holding steps left during pause
+    int rightStepsPause; // for holding steps right during pause
 };
 
 #endif
\ No newline at end of file