Justin Jordan
/
R5_StepperDrive
update 1/27/16
Fork of R5_StepperDrive by
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